Flatness control method, device, equipment and storage medium

Abstract

The application provides a flatness control method, device, equipment and storage medium, relates to the robot leveling technical field, and obtains a current laser height at a current moment and historical laser heights corresponding to a plurality of historical moments; wherein, the historical moment is before the current moment, and each historical moment is a different moment; a sliding window is constructed through the current laser height and the plurality of historical laser heights, and a dynamic threshold interval is determined through the sliding window; when the current laser height falls within the dynamic threshold interval, the lead screw motor is controlled to be adjusted from a current position to a target position. The application uses the dynamic threshold interval and the updateable sliding window to improve the flatness control result.

Description

Technical Field

[0001] This invention relates to the field of robot leveling technology, and more specifically to a flatness control method, device, equipment, and storage medium. Background Technology

[0002] A leveling robot is an intelligent device that autonomously completes the leveling of cement mortar or self-leveling floors. It relies on laser sensors to detect the floor height in real time and drives a lead screw motor to adjust the working position according to the floor height detected by the laser, so as to control the floor flatness error within the allowable range.

[0003] Currently, flatness control mainly relies on the comparison between the ground height detected in real time by laser and an empirical threshold, which in turn controls the lead screw motor to follow the movement. However, the empirical threshold is usually a fixed range value and cannot be dynamically adjusted in conjunction with the height value collected in real time by laser. This causes the drive action of the lead screw motor to be mismatched with the actual working conditions, affecting the flatness control effect.

[0004] Therefore, how to improve the flatness control effect is an urgent problem to be solved in this application. Summary of the Invention

[0005] This invention provides a flatness control method, apparatus, device, and storage medium to improve the flatness control effect.

[0006] In a first aspect, this application provides a flatness control method, which is applied to the controller of a leveling robot. The leveling robot also includes a lead screw motor. The flatness control method includes: Obtain the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments; A sliding window is constructed using the current laser height and multiple historical laser heights, and a dynamic threshold range is determined using the sliding window. When the current laser height falls within the dynamic threshold range, the control screw motor is adjusted from its current position to the target position.

[0007] Optionally, if the sliding window includes N laser heights, then the sliding window includes a current laser height and N-1 historical laser heights; The dynamic threshold range is determined by using a sliding window, including: An adaptive value is calculated using multiple historical laser heights; The dynamic threshold range is determined based on the adaptive value and N-1 historical laser heights.

[0008] Optionally, a dynamic threshold range is determined based on an adaptive value and N-1 historical laser heights, including: The median and interquartile range were calculated based on N-1 historical laser heights. The dynamic threshold interval is calculated based on the median, interquartile range, and adaptive value.

[0009] Optionally, the sliding window is a dynamically updatable window, which is updated each time the current laser height is acquired; Flatness control methods also include: When the current laser height falls outside the dynamic threshold range, the control screw maintains its current position; Determine the alarm triggering mechanism based on the sliding window.

[0010] Optionally, the N laser heights of the sliding window correspond to N timing positions; A sliding window is constructed using the current laser height and multiple historical laser heights, including: The N historical laser heights are arranged in chronological order and placed in N time positions to form the original sliding window; where the chronological order means that the historical laser height corresponding to an earlier time is placed before the historical laser height corresponding to a later time. The current laser height is placed at the Nth time sequence position, and the historical laser height corresponding to the first time moment is removed to construct a sliding window.

[0011] Optionally, after constructing the sliding window, the method further includes: Calculate the current anomaly density of the sliding window based on the sliding window; The reliability of the sliding window is determined by the current abnormal density.

[0012] Optionally, the trusted result includes a trusted window and an abnormal window; After determining the reliable result of the sliding window, the method further includes: When the trusted result indicates a trusted window, update the adaptive value; When a reliable result indicates an abnormal window, continue to acquire reliable results for the updated sliding window at the next time step; An alarm trigger mechanism is activated when three consecutive abnormal windows appear.

[0013] Secondly, this application also provides a flatness control device, which is applied to the controller of a leveling robot. The leveling robot also includes a lead screw motor. The flatness control device includes: The acquisition module is used to acquire the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments; The range determination module is used to construct a sliding window based on the current laser height and multiple historical laser heights, and to determine the dynamic threshold range through the sliding window; The adjustment module is used to control the lead screw motor to adjust from the current position to the target position when the current laser height falls within the dynamic threshold range.

[0014] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor; The memory stores the instructions that the computer executes; The processor executes computer execution instructions stored in memory to implement the flatness control method of the first aspect of the invention.

[0015] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a flatness control method according to the first aspect of the invention.

[0016] Fifthly, this application provides a computer program product, comprising: a computer program, which, when executed by a processor, is used to implement a flatness control method according to the first aspect of the invention.

[0017] This application constructs a sliding window based on the current laser height and multiple historical laser heights, replacing the direct use of single measurement values ​​and enhancing the system's anti-interference capability. Utilizing the sliding window and the laser height within it, a dynamic threshold range is determined, replacing fixed empirical thresholds, adapting to height fluctuations in on-site conditions, reducing false alarm rates for anomaly detection, and improving control accuracy. By comparing the current laser height with the dynamic threshold range, the direction and degree of deviation are determined, thereby determining the drive action of the lead screw motor and achieving differentiated following control of the lead screw motor. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of this specification. They are used together with the detailed description below to explain the principles of the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the system architecture of the flatness control system provided in the embodiments of this application; Figure 2 A flowchart illustrating a flatness control method provided in this application embodiment. Figure 1 ; Figure 3 A schematic diagram illustrating the adjustment of the sliding window provided in an embodiment of this application; Figure 4Flowchart of the flatness control method provided in the embodiments of this application Figure 2 ; Figure 5 This is a schematic diagram illustrating the calculation process of adaptive values ​​in an embodiment of this application; Figure 6 Flowchart of the flatness control method provided in the embodiments of this application Figure 3 ; Figure 7 This is a schematic diagram of the flatness control device provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the electronic device hardware provided in the embodiments of this application.

[0020] Explanation of reference numerals in the attached figures: 100. Flatness control system; 110. Laser height acquisition module; 120. Sliding window data buffer module; 130. Adaptive numerical module; 140. Controller; 150. Screw motor; 160. Alarm module; 300. Sliding window; 310. Timing position; 320. Current laser height; 710. Acquisition Module; 720. Range Determination Module; 730. Adjustment Module; 810. Processor; 820. Memory; 830. Communication components; 840. Bus. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0022] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] Construction of building floors often relies on manual leveling operations. The flatness of the construction is greatly affected by the experience and physical strength of the operators, making it difficult to unify the overall construction accuracy. This can easily lead to unevenness, surface lifting, cracking, and other problems.

[0025] With the development of intelligent manufacturing technology and the increasing demands for ground flatness and construction efficiency in engineering projects, leveling robots have been widely used due to their high efficiency. A leveling robot is an intelligent device that autonomously completes the leveling of cement mortar or self-leveling floors. It uses an onboard laser sensor to monitor the ground height in real time and drives a lead screw motor to adjust its working position based on the laser-detected ground height, thereby controlling the ground flatness error within the allowable range.

[0026] The core of the leveling robot's flatness control lies in the single-point closed-loop control between the lead screw motor and the laser data. The lead screw needs to adjust its position in real time according to the ground height collected by the laser sensor to compensate for the ground height difference.

[0027] Currently, the flatness control of leveling robots mainly relies on the comparison between the ground height collected in real time by laser and a fixed empirical threshold, which then controls the movement of the lead screw motor. However, directly using the laser height value detected by the laser sensor to drive the lead screw does not consider abnormal laser data. If there are abnormalities in the laser data, it will affect the lead screw's mis-following, causing leveling deviations and affecting the leveling effect. Furthermore, the fixed empirical threshold is difficult to dynamically adjust in combination with laser data collected under actual working conditions, resulting in poor adaptability and difficulty in meeting the abnormality detection needs of different scenarios and environments.

[0028] Therefore, how to improve the flatness control effect is an urgent problem to be solved in this application.

[0029] Based on this, this application provides a flatness control method, device, equipment, and storage medium, which can be used in the field of power operation and maintenance technology and aims to solve the above-mentioned technical problems.

[0030] Figure 1 This is a schematic diagram of the system architecture of the flatness control system provided in an embodiment of this application. It should be noted that... Figure 1 The examples shown are merely examples of the architecture that can be applied to the embodiments of this application, in order to help those skilled in the art understand the technical content of this application, but do not mean that the embodiments of this application cannot be used in other devices, systems, environments or scenarios.

[0031] The flatness control system 100 consists of the virtual system corresponding to the flatness control method and the main structure of the leveling robot. The leveling robot includes a controller that executes the flatness control method, a laser height acquisition module that collects laser data, a lead screw motor, and an alarm module.

[0032] The flatness control system 100 includes a laser height acquisition module 110, a sliding window data buffer module 120, an adaptive value module 130, a controller 140, a lead screw motor 150, and an alarm module 160.

[0033] The laser height acquisition module 110 is a device such as the laser sensor of the leveling robot that can acquire laser height in real time. The laser height acquisition module 110 can periodically acquire laser height values, such as continuously acquiring laser height values ​​every 30ms, and transmit the acquired laser height values ​​to the controller 140 and the sliding window data cache module 120 in real time.

[0034] The sliding window data caching module 120 stores a sliding window. The sliding window data caching module 120 adopts a first-in, first-out (FIFO) queue structure, that is, it maintains a sliding window with a length of N sampling points. Each sampling point corresponds to storing the most recently acquired laser height sampling data, providing data support for defining the dynamic threshold interval. The value of N can be 33, or it can be set according to the actual situation.

[0035] The adaptive numerical module 130 uses an adaptive adjustment algorithm for the K value (i.e., the adaptive value), which can output the adaptively adjusted K value in real time based on the historical statistical characteristics (i.e., historical laser height) of 100 reliable windows at the most recent moment, to determine the value range of the dynamic threshold interval.

[0036] The controller 140 acquires the laser height from the laser height acquisition module 110 and uses the K value calculated by the adaptive numerical module 130 to determine whether the laser height is abnormal, adjusting the dynamic threshold range accordingly. Simultaneously, the controller 140 calculates the target position of the lead screw and outputs a control signal to the lead screw motor 150. Furthermore, the controller 140 determines whether the sliding window is a reliable window. If the sliding window is a reliable window, no alarm trigger control signal is output; if the sliding window is determined to be an abnormal window at least three times consecutively, a trigger signal is output to the alarm module 160.

[0037] The lead screw motor 150 is used to receive the control signal output by the controller 140. The motor drives the lead screw to adjust to the target position, so as to realize the real-time following of the lead screw.

[0038] The alarm module 160 includes a buzzer and a tri-color light, which are used to issue graded alarms when the laser height is abnormal or when there is an abnormal window, so as to remind staff to handle the fault.

[0039] Figure 2 A flowchart illustrating a flatness control method provided in this application embodiment. Figure 1 ,like Figure 2As shown, if the flatness control method is applied to the flatness control system 100 described above, then the flatness control method includes: S201. Obtain the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments.

[0040] It should be noted that historical moments are prior to the current moment, and each historical moment is a different moment. The historical laser height values ​​corresponding to each historical moment may be different or the same.

[0041] Specifically, the laser height acquisition module 110 acquires the laser height at every moment in real time.

[0042] It should be noted that in this application, moments prior to the current moment are defined as historical moments, and each historical moment is different. The time period refers to the period during which the laser height acquisition module 110 acquires the laser height, such as 33ms.

[0043] Taking N as 33 as an example, the laser height acquisition module 110 acquires at least 33 laser heights. If the 33rd moment is the current moment, then the previous 32 moments are historical moments.

[0044] The historical laser height is obtained from the laser height acquisition module 110 for each historical moment.

[0045] The current laser height is obtained from the laser height acquisition module 110 at the current moment.

[0046] S202. Construct a sliding window using the current laser height and multiple historical laser heights, and determine the dynamic threshold range using the sliding window.

[0047] Specifically, the sliding window includes N laser heights, corresponding to N sampling points (i.e., sequential positions).

[0048] By using the current laser height and multiple historical laser heights, and sorting them in chronological order, a sliding window is constructed. The first chronological position is then occupied by the historical laser height N times before the current time, and so on. The Nth chronological position is then occupied by the current laser height, thus constructing the sliding window.

[0049] Taking N as 33 as an example, the first time position is to place the historical laser height of the 33rd time before the current time, and the Nth time position is to place the current laser height.

[0050] It should be noted that the time sequence positions within the sliding window are limited. When the number of laser heights acquired by the laser height acquisition module 110 exceeds N, the historical laser height at the front of the sliding window will be removed, and the time sequence position after removal will be replaced by the historical laser height at the subsequent time.

[0051] Figure 3 This is a schematic diagram illustrating the adjustment of the sliding window provided in an embodiment of this application, as shown below. Figure 3 As shown, only 33 timing positions of the sliding window 300 are displayed (timing positions not shown are indicated by ellipses). The top shows the original sliding window, and the bottom shows the current sliding window. The circle inside the sliding window 300 represents a timing position 310.

[0052] When the current moment is within the last 33 moments, the historical laser height and the current laser height will be measured sequentially and filled into the time sequence positions. When the current moment is outside the last 33 moments, the current laser height of 320 corresponding to the current moment will be filled into the 33rd time sequence position in the sliding window 300; correspondingly, the historical laser value corresponding to the previous moment will replace the 32nd time sequence position, as indicated by the arrow in the figure; the value in the 1st time sequence position will be removed in the direction of the arrow, so that only 33 time sequence positions exist within the sliding window 300.

[0053] It is important to note that after each complete sliding window is formed, it is necessary to determine whether the sliding window is reliable.

[0054] The dynamic threshold range is determined by using 32 historical laser heights in the sliding window and the K value output by the adaptive numerical module 130.

[0055] S203. When the current laser height falls within the dynamic threshold range, control the lead screw motor to adjust from the current position to the target position.

[0056] Specifically, when the current laser height falls within the dynamic threshold range, the current laser height is determined to be normal, and the controller 140 outputs a control signal to the lead screw motor 150; after the lead screw motor 150 receives the control signal, the lead screw will move to the lead screw target position.

[0057] If the current laser height falls outside the dynamic threshold range, the current laser height is determined to be abnormal. The lead screw target position output by controller 140 is the lead screw target position at the previous moment, preventing the lead screw from adjusting accordingly. At the same time, the alarm trigger mechanism is activated, causing the buzzer to sound briefly and the tri-color light to flash yellow once.

[0058] This application constructs a sliding window based on the current laser height and multiple historical laser heights, replacing the direct use of single measurement values ​​and enhancing the system's anti-interference capability. Utilizing the sliding window and the laser height within it, a dynamic threshold range is determined, replacing fixed empirical thresholds, adapting to height fluctuations in on-site conditions, reducing false alarm rates for anomaly detection, and improving control accuracy. By comparing the current laser height with the dynamic threshold range, the direction and degree of deviation are determined, thereby determining the drive action of the lead screw motor and achieving differentiated following control of the lead screw motor.

[0059] Figure 4 Flowchart of the flatness control method provided in the embodiments of this application Figure 2 This embodiment is in Figure 2 Based on the examples, the specific steps of the flatness control method are explained. For example... Figure 2 As shown, this embodiment provides a flatness control method, including: S401. Obtain the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments.

[0060] In this context, historical moments occur before the current moment, and each historical moment is a distinct moment.

[0061] S401 and 201 are based on the same principle, so they will not be described again here.

[0062] S402. Arrange the N historical laser heights in chronological order at N time positions to form the original sliding window.

[0063] The temporal sequence refers to placing the historical laser height corresponding to an earlier time before the historical laser height corresponding to a later time.

[0064] Specifically, the N laser heights of the sliding window correspond to N temporal positions. The sliding window is constructed using the current laser height and multiple historical laser heights.

[0065] like Figure 3 As shown, the N historical laser heights are sorted in chronological order and then sequentially filled into the N chronological positions to form the original sliding window.

[0066] S403. Place the current laser height at the Nth time sequence position and remove the historical laser height corresponding to the first time step to construct a sliding window.

[0067] Specifically, such as Figure 3 As shown, the current laser height at the current moment... Following the arrow order, place it at the Nth time sequence position, and move the historical laser height corresponding to each historical moment before the current moment forward by one time sequence position until the historical laser height corresponding to the first moment in the sliding window is removed, thus forming the sliding window.

[0068] S404. An adaptive value is calculated using multiple historical laser heights.

[0069] If the sliding window contains N laser heights, then the sliding window includes one current laser height and N-1 historical laser heights.

[0070] Specifically, a sliding window is used to determine the dynamic threshold range.

[0071] It should be noted that the historical laser height and other related data used for the adaptive value K must be data from a trusted window.

[0072] The adaptive numerical module 130 can dynamically adjust the K value based on the historical laser height of 100 reliable windows at the most recent moment, ensuring that the dynamic threshold range can adapt to the fluctuation of the laser height data on site.

[0073] Calculate and store the median of the most recent 100 trusted windows in real time. After storing 100 trusted windows, for each new trusted window, remove the median of the oldest trusted window. The logic for storing the median of trusted windows is the same as the logic for constructing sliding windows, and will not be elaborated here.

[0074] The standard deviation and mean are calculated using the median of 100 confidence windows; and the K value is calculated using the standard deviation and mean.

[0075] Each time a new confidence window is added and the median is recalculated, the statistical parameters are updated, and the K value is updated again, achieving real-time adaptive adjustment of the K value.

[0076] To facilitate the explanation of the detailed calculation formula for the K value in the embodiments of this application, a specific embodiment is introduced here. Figure 5 This is a schematic diagram of the adaptive numerical calculation process in an embodiment of this application, as shown below. Figure 5 As shown: After the flatness control system 100 is initialized, the K value is dynamically adjusted based on the historical laser height of the most recent 100 reliable windows.

[0077] S501, stores the median of 100 trusted windows.

[0078] The median of the most recent 100 trusted windows is stored in real time. Once the number of trusted windows reaches 100, for each newly added trusted window, the median of the oldest trusted window is removed.

[0079] Always ensure that the number of trusted windows stored is 100, that is, always save the statistical data of 100 trusted windows.

[0080] S502. Calculate the statistical parameters based on the median.

[0081] Statistical parameters include standard deviation and mean .

[0082] Among them, standard deviation Reflects the degree of volatility of the historical median; mean It reflects the overall level of the historical median.

[0083] Calculate the standard deviation based on the median of 100 confidence windows. and mean .

[0084] S503. Calculate the K value using the standard deviation and mean.

[0085] The following formula is used to calculate: value:

[0086] in, This is expressed as a sensitivity factor, with a value ranging from 0 to 1; When it is larger, The higher the value, the more sensitive it is to statistical data.

[0087] In practical applications, to reduce false alarms, the voltage can be appropriately increased. ,make Increasing the value widens the dynamic threshold range; to improve anomaly detection sensitivity, the value can be appropriately decreased. ,make The value decreases, thereby narrowing the dynamic threshold range.

[0088] S504, Real-time updates of the K value.

[0089] Each time a new reliable window is added and the statistical parameters are updated, the K value will be recalculated and updated to achieve real-time adaptive adjustment of the K value, ensuring that the dynamic threshold range always matches the field conditions.

[0090] S405. Based on N-1 historical laser heights, the median and interquartile range are calculated.

[0091] Specifically, the dynamic threshold range is determined based on the adaptive value and N-1 historical laser heights.

[0092] The median is calculated based on the N-1 historical laser heights of the sliding window. and interquartile range .

[0093] S406. The dynamic threshold interval is calculated based on the median, interquartile range, and adaptive value.

[0094] Specifically, based on the median Interquartile range and adaptive value The lower limit of the dynamic threshold interval is calculated. and upper limit .

[0095] Therefore, the dynamic threshold range is determined as follows: .

[0096] When the current laser height If the laser height falls within the dynamic threshold range, execute step S407; when the current laser height... If the value falls outside the dynamic threshold range, step S408 is executed.

[0097] S407. When the current laser height falls within the dynamic threshold range, control the lead screw motor to adjust from the current position to the target position.

[0098] Specifically, when When the current laser height is determined to be normal, the controller 140 will calculate the target position of the lead screw and send a control signal to the lead screw motor 150, which will then control the lead screw to move to the target position.

[0099] S408. When the current laser height falls outside the dynamic threshold range, the control screw maintains its current position.

[0100] Specifically, in When the laser height is deemed abnormal, the controller 140 controls the lead screw to maintain its previous target position without making any adjustments, and triggers a preliminary alarm, causing the buzzer to sound briefly and the tri-color light to flash yellow once.

[0101] S409. Determine the alarm triggering mechanism based on the sliding window.

[0102] Specifically, based on the constructed sliding window, a trusted window is determined, thereby deciding whether to activate the alarm triggering mechanism.

[0103] This embodiment establishes a collaborative control planning mechanism for laser anomaly detection and lead screw following, effectively avoiding single-point closed-loop control between laser detection and lead screw following, which could lead to leveling anomalies due to lead screw following control. By determining adaptive values ​​through a reliable window and historical laser heights, real-time adaptive adjustment of the adaptive values ​​is achieved, improving the accuracy of the dynamic threshold range and its adaptability to actual working conditions. Through automatically updated adaptive values, the dynamic threshold range is dynamically adjusted, making it more closely match actual working conditions and improving the leveling control effect.

[0104] Figure 6 Flowchart of the flatness control method provided in the embodiments of this application Figure 3 This embodiment is in Figure 4 Based on the embodiment, step S409 will be explained. For example... Figure 6 As shown, it includes: S601. Calculate the current anomaly density of the sliding window based on the sliding window.

[0105] Specifically, for each new sliding window formed, anomaly density calculation is required to determine whether the sliding window is a reliable window or an anomalous window.

[0106] The current anomaly density is calculated using the following formula. :

[0107] in, This refers to the abnormal points in the sliding window (i.e., the abnormal situations judged in the aforementioned S408 step, and the corresponding laser height).

[0108] Each time an abnormal situation is identified, that point is marked once.

[0109] S602. Determine the reliable result of the sliding window based on the current abnormal density.

[0110] Specifically, in the current abnormal density When a window is marked as a trustworthy window, the trustworthy result is considered a trustworthy window.

[0111] At the current abnormal density When this happens, it is marked as an abnormal window, meaning the result is considered an abnormal window. This is represented as the abnormal threshold.

[0112] If the trusted result indicates a trusted window, execute step S603; if the trusted result indicates an abnormal window, execute step S604.

[0113] S603. When the trusted result indicates a trusted window, update the adaptive value.

[0114] Specifically, when a trusted result indicates a trusted window, that is, when a trusted window is added, the corresponding update will be performed. For the value and detailed calculation process, please refer to [reference needed]. Figure 5 Example.

[0115] S604. When the trusted result indicates an abnormal window, continue to obtain the trusted result of the updated sliding window at the next moment.

[0116] Specifically, it should be noted that the laser height acquisition module 110 acquires data in real time. Therefore, when the next moment arrives, the future current laser height of the next moment will replace the current laser height of the current moment according to the sliding window construction logic. That is, when the current moment becomes the previous moment, the corresponding laser height will shift accordingly.

[0117] When the reliable result indicates an abnormal window, the future laser height at the next moment is continuously acquired, and the technical solution of this application is re-executed to obtain the reliable result of the updated sliding window at the future moment.

[0118] S605. When an abnormal window appears three times in a row, the alarm triggering mechanism is activated.

[0119] Specifically, if the reliable results of the sliding window are all abnormal windows after three consecutive updates, the alarm triggering mechanism will be activated, triggering an advanced alarm, causing the three-color light to stay on red and the buzzer to sound continuously, prompting staff to clean the laser height acquisition module 110 or check the environment.

[0120] Once the trusted window appears, the advanced alarm will be automatically cleared and normal control will be restored.

[0121] To facilitate the explanation of all the technical solutions in this application, a specific embodiment is introduced here, where N is 33 and the current sampling time is... ( For example: The laser altitude acquisition module 110 acquires the current sampling time. Previously, an original sliding window had been created.

[0122] The laser height acquisition module 110 acquires the current laser height at the current moment. .

[0123] Current laser height Replace the last timing position in the original sliding window, and move the height of other historical lasers in the sliding window forward by one position to form a new sliding window.

[0124] The controller 140 extracts the first 32 historical sampling points in the sliding window, excluding the current point Lnew, and calculates the median of the historical points by combining the k value output by the adaptive numerical module 130. and interquartile range Define the dynamic threshold range .

[0125] exist Upon confirmation that the window is trusted, the screw is moved to its target position. The trusted window is then updated. value.

[0126] exist If the window is confirmed to be abnormal, the control screw will remain in its position and will not move. The buzzer of the control alarm module 160 will sound briefly and the tri-color light will flash yellow once.

[0127] Simultaneously, the future laser height at future moments is obtained, thereby updating the sliding window and dynamically updating the dynamic threshold range; and reliable results are obtained again.

[0128] After three consecutive abnormal windows appear, the buzzer of the control alarm module 160 will sound continuously, and the three-color light will remain constantly red.

[0129] This embodiment will implement graded alarms through anomaly windows, which can promptly alert staff to minor and serious anomalies, facilitating timely troubleshooting. Through a reliable window, adaptive values ​​are dynamically adjusted to improve the accuracy of dynamic threshold ranges, adapting to the dynamic fluctuations of on-site laser height data and reducing the false alarm and false negative rates of anomaly detection.

[0130] This application embodiment can divide an electronic device or main control device into functional modules according to the above method examples. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0131] Figure 7 This is a schematic diagram of the flatness control device provided in the embodiments of this application, as shown below. Figure 7 As shown, the flatness control device includes an acquisition module 710, a range determination module 720, and an adjustment module 730.

[0132] The acquisition module 710 is used to acquire the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments; The range determination module 720 is used to construct a sliding window based on the current laser height and multiple historical laser heights, and to determine the dynamic threshold range through the sliding window; The adjustment module 730 is used to control the lead screw motor to adjust from the current position to the target position when the current laser height falls within the dynamic threshold range.

[0133] In one possible design, if the sliding window includes N laser heights, then the sliding window includes a current laser height and N-1 historical laser heights; The range determination module 720 includes: An adaptive module is used to calculate an adaptive value based on multiple historical laser heights; The interval determination module is used to determine the dynamic threshold interval based on the adaptive value and N-1 historical laser heights.

[0134] In one possible design, the interval module is determined as follows: The parameter module is used to calculate the median and interquartile range based on N-1 historical laser heights. The interval calculation module is used to calculate the dynamic threshold interval based on the median, interquartile range, and adaptive value.

[0135] In one possible design, the sliding window is a dynamically updatable window, which is updated each time the current laser height is acquired; The flatness control device also includes: The holding module is used to control the lead screw to maintain its current position when the current laser height falls outside the dynamic threshold range; The initial alarm module is used to determine the alarm triggering mechanism based on the sliding window.

[0136] In one possible design, the N laser heights of the sliding window correspond to N timing positions; The range determination module 720 includes: The original window module is used to arrange N historical laser heights in chronological order at N time positions to form an original sliding window; where the chronological order means that the historical laser height corresponding to an earlier time is placed before the historical laser height corresponding to a later time. Update the window module to place the current laser height at the Nth time sequence position and remove the historical laser height corresponding to the first time step, thus constructing a sliding window.

[0137] In one possible design, the flatness control device also includes: The anomaly density module is used to calculate the current anomaly density of the sliding window based on the sliding window. The credible results module is used to determine the credible results of the sliding window based on the current anomaly density.

[0138] In one possible design, the trusted result includes a trusted window and an abnormal window; The flatness control device also includes: The update module is used to update the adaptive value when the trusted result indicates a trusted window; The future module is used to continuously obtain the reliable results of the updated sliding window at the next time step when the reliable result indicates an abnormal window; The critical alarm module is used to activate the alarm triggering mechanism when three consecutive abnormal windows appear.

[0139] The principle and technical effects of this embodiment are the same as those of the flatness control method, and will not be repeated here.

[0140] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device includes at least one processor 810 and a memory 820. The electronic device also includes a communication component 830. The processor 810, memory 820, and communication component 830 are connected via a bus 840.

[0141] In the specific implementation process, at least one processor 810 executes computer execution instructions stored in memory 820, causing at least one processor 810 to execute a flatness control method as executed on the electronic device side as described above.

[0142] The specific implementation process of processor 810 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0143] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0144] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0145] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0146] The above description of the functions implemented by electronic devices and main control devices has introduced the solutions provided by the embodiments of the present invention. It is understood that, in order to implement the above functions, the electronic device or main control device includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present invention.

[0147] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the flatness control method described above.

[0148] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof.

[0149] Examples of readable storage media include Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disks, or optical disks. Readable storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0150] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0151] This application also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and when the computer program is executed by the processor, being used to implement the flatness control method described above.

[0152] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk. The technical solutions of this application have been described above in conjunction with the preferred embodiments shown in the accompanying drawings. However, those skilled in the art will readily understand that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0153] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0154] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling flatness, characterized in that, The flatness control method is applied to the controller of a leveling robot, which also includes a lead screw motor. The flatness control method includes: Obtain the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments; A sliding window is constructed using the current laser height and multiple historical laser heights, and a dynamic threshold range is determined using the sliding window. When the current laser height falls within the dynamic threshold range, the lead screw motor is controlled to adjust from its current position to the target position.

2. The flatness control method according to claim 1, characterized in that, If the sliding window contains N laser heights, then the sliding window includes one current laser height and N-1 historical laser heights; Determining the dynamic threshold range through the sliding window includes: An adaptive value is calculated using multiple historical laser heights. The dynamic threshold range is determined based on the adaptive value and N-1 historical laser heights.

3. The flatness control method according to claim 2, characterized in that, The step of determining the dynamic threshold range based on the adaptive value and N-1 historical laser heights includes: The median and interquartile range are calculated based on N-1 historical laser heights. The dynamic threshold interval is calculated based on the median, the interquartile range, and the adaptive value.

4. The flatness control method according to claim 2, characterized in that, The sliding window is a dynamically updatable window, and it is updated every time the current laser height is acquired. The flatness control method further includes: When the current laser height falls outside the dynamic threshold range, the lead screw is controlled to maintain its current position. The alarm triggering mechanism is determined based on the sliding window.

5. The flatness control method according to claim 4, characterized in that, The N laser heights of the sliding window correspond to N time sequence positions; The step of constructing a sliding window using the current laser height and multiple historical laser heights includes: The N historical laser heights are arranged sequentially in N time positions to form an original sliding window; wherein, the time order means that the historical laser height corresponding to an earlier time is placed before the historical laser height corresponding to a later time. The current laser height is placed at the Nth time sequence position, and the historical laser height corresponding to the first time moment is removed to construct the sliding window.

6. The flatness control method according to claim 5, characterized in that, After constructing the sliding window, the method further includes: Calculate the current anomaly density of the sliding window based on the sliding window; The reliability of the sliding window is determined by the current abnormal density.

7. The flatness control method according to claim 6, characterized in that, The trusted results include a trusted window and an abnormal window; After determining the reliable result of the sliding window, the method further includes: When the trusted result indicates a trusted window, update the adaptive value; When the reliable result indicates an abnormal window, continue to acquire the reliable result of the updated sliding window at the next time step; An alarm trigger mechanism is activated when three consecutive abnormal windows appear.

8. A flatness control device, characterized in that, The flatness control device is used in the controller of the leveling robot, which also includes a lead screw motor. The flatness control device includes: The acquisition module is used to acquire the current laser height at the current moment and the historical laser heights corresponding to multiple historical moments; The range determination module is used to construct a sliding window based on the current laser height and multiple historical laser heights, and to determine a dynamic threshold range through the sliding window; The adjustment module is used to control the lead screw motor to adjust from the current position to the target position when the current laser height falls within the dynamic threshold range.

9. An electronic device, characterized in that, include: The processor, and the memory that is in communication with the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the flatness control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the flatness control method according to any one of claims 1-7.

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