A movable stand deviation rectifying system and movable stand

Abstract

The utility model provides a kind of movable stand rectification system, it is used on movable stand, including control module, drive module, offset detection module, drive module includes first drive unit and second drive unit, first drive unit and second drive unit cooperative drive movable stand moves along first horizontal direction;Offset detection module is used to detect the position information of movable stand in second horizontal direction;Control module is connected with drive module and offset detection module by communication bus and is communicated, control module compares the position information detected by offset detection module with internal preset value and obtains offset, and according to offset control first drive unit and second drive unit drive movable stand drive speed difference.The movable stand rectification system of the utility model can realize rectification, avoid deviation, and communication bus can greatly reduce response time, increase stability, and improve scalability.The utility model further provides a kind of movable stand.

Description

Technical Field

[0001] This utility model relates to the field of sports venue equipment, and in particular to a movable grandstand correction system and a movable grandstand. Background Technology

[0002] To enable sports venues to host various types of competitions and other commercial activities, and to adapt their use as needed to maximize venue utilization, movable grandstands are the optimal choice for meeting the multi-functional requirements of sports venues. The advantages of movable grandstands lie in their high flexibility and high utilization rate, allowing modern multi-functional sports venues to adjust their layout.

[0003] However, movable grandstands rely on mechanical guide rails or gear synchronization systems, which are prone to wear and tear and deviation over long-term use, resulting in a common problem of deviation during the movement of existing grandstands. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model provides a movable grandstand correction system. By incorporating an offset detection module, it can detect the position information of the movable grandstand in the second horizontal direction in real time, enabling the control module to accurately correct the deviation and prevent the grandstand from veering off course. Furthermore, a communication bus is used to achieve communication connections between the modules, greatly simplifying the structure of the movable grandstand correction system, simplifying actual wiring and cabling, significantly reducing system response time, increasing system stability, and improving system scalability. This utility model also provides a movable grandstand.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A movable grandstand correction system, used on a movable grandstand, includes: The control module is equipped with a communication bus; The driving module includes a first driving unit and a second driving unit. The first driving unit acts on a first driving part of the movable grandstand, and the second driving unit acts on a second driving part of the movable grandstand. The first driving unit and the second driving unit work together to drive the movable grandstand to move along a first horizontal direction. An offset detection module is used to detect the position information of the active grandstand in a second horizontal direction, which is perpendicular to the first horizontal direction. The control module is connected to the drive module and the offset detection module via the communication bus, and the control module is configured to: compare the position information detected by the offset detection module with an internal preset value to obtain the offset, and control the drive speed difference of the first drive unit and the second drive unit to drive the movable grandstand according to the offset.

[0006] Using the above technical solution, during the process of the first drive unit and the second drive unit driving the extension and retraction of the movable grandstand, the offset detection module can detect the position information of the movable grandstand in the second horizontal direction in real time, and send it to the control module through the communication bus. The control module compares the position information detected by the offset detection module with an internal preset value to obtain the offset, and controls the first drive unit and the second drive unit respectively through the communication bus according to the offset, so as to realize the difference in driving speed between the two driving the movable grandstand, so as to correct the offset in the second direction during the extension and retraction of the movable grandstand. Since the control module communicates with the drive unit and the offset detection module through the communication bus, it can greatly simplify the structure of the movable grandstand correction system, simplify the actual wiring and cabling, and significantly reduce the system response time, increase system stability, and improve system scalability. Of course, the driving unit and the offset detection module can report their operating status through the communication bus. When an abnormality occurs during operation, they can report it to the control module in a timely manner. The control module can then exit the correction operation in a timely manner to avoid driving and / or detection abnormalities leading to greater safety accidents.

[0007] Furthermore, the offset detection module includes a first distance detection unit and a second distance detection unit. A reference object is disposed on the outer side of the movable grandstand in the second horizontal direction, and the reference object extends along the first horizontal direction. The first distance detection unit and the second distance detection unit are disposed on the side of the movable grandstand facing the reference object, and are spaced apart along the first horizontal direction. The first distance detection unit is used to detect a first distance from its placement point to the reference object, and the second distance detection unit is used to detect a second distance from its placement point to the reference object. The control module is connected to the communication bus and is configured to: compare the first distance detected by the first distance detection unit with the corresponding internal preset value to obtain a first offset; compare the second distance detected by the second distance detection unit with the corresponding internal preset value to obtain a second offset; and control the driving speed difference of the first drive unit and the second drive unit to drive the movable grandstand according to the first offset and the second offset. Specifically, when the first offset exceeds the tolerance range of the preset value and / or the second offset exceeds the tolerance range of the preset value, the control module controls the driving speed difference of the first drive unit and the second drive unit to drive the movable grandstand. The second driving unit is positioned further away from the reference object than the first driving unit; The first distance detection unit is closer to the end of the movable grandstand in the extension direction than the second distance detection unit; that is, the direction from the second distance detection unit to the first distance detection unit is the extension direction of the movable grandstand.

[0008] By adopting the above technical solution, the offset detection module becomes more reasonable and can more accurately reflect the position information of the movable grandstand in the second horizontal direction. It can also detect the levelness between the movable grandstand and the reference object, which is generally a wall. When the first offset is less than a preset value and the second offset is less than a preset value, the entire active grandstand is close to the reference object. The magnitudes of the first offset and the second offset can be compared. If the first offset is larger, it means that the active grandstand detected by the second distance detection unit is closer to the reference object. If the second offset is larger, it means that the active grandstand detected by the first distance detection unit is closer to the reference object. When the first offset is greater than a preset value and the second offset is greater than a preset value, the entire active grandstand moves away from the reference object. Furthermore, the magnitudes of the first offset and the second offset can be compared. If the first offset is larger, it indicates that the active grandstand detected by the first distance detection unit is further away from the reference object. If the second offset is larger, it indicates that the active grandstand detected by the second distance detection unit is further away from the reference object. When the first offset is less than a preset value and the second offset is greater than a preset value, the detection point of the first distance detection unit in the movable grandstand is closer to the reference object, and the detection point of the second distance detection unit in the movable grandstand is farther away from the reference object. When the first offset is greater than a preset value and the second offset is less than a preset value, the detection point of the first distance detection unit in the movable grandstand is far away from the reference object, and the detection point of the second distance detection unit in the movable grandstand is close to the reference object; When the first offset equals a preset value and the second offset equals a preset value, the active grandstand does not shift.

[0009] When the driving speed of the first driving unit driving the movable grandstand is increased, and / or the driving speed of the second driving unit driving the movable grandstand is decreased, the end of the movable grandstand in the extension direction will shift away from the reference object. The control module controls the first drive unit and the second drive unit to cause the movable grandstand to swing, thereby achieving deviation correction, specifically as follows: During the extension of the movable grandstand, when the driving speed of the movable grandstand driven by the first driving unit is increased and / or the driving speed of the movable grandstand driven by the second driving unit is decreased, the extension end of the movable grandstand will shift away from the reference object, and the retraction end of the movable grandstand will shift towards the reference object; when the driving speed of the movable grandstand driven by the first driving unit is decreased and / or the driving speed of the movable grandstand driven by the second driving unit is increased, the extension end of the movable grandstand will shift towards the reference object, and the retraction end of the movable grandstand will shift away from the reference object. During the retraction of the movable grandstand, when the driving speed of the movable grandstand driven by the first driving unit is increased and / or the driving speed of the movable grandstand driven by the second driving unit is decreased, the end of the movable grandstand in the extension direction will shift towards the reference object, and the end of the movable grandstand in the retraction direction will shift away from the reference object; when the driving speed of the movable grandstand driven by the first driving unit is decreased and / or the driving speed of the movable grandstand driven by the second driving unit is increased, the end of the movable grandstand in the extension direction will shift away from the reference object, and the end of the movable grandstand in the retraction direction will shift towards the reference object. Furthermore, the swing center point of the movable grandstand is determined by the difference in driving speed between the first drive unit and the second drive unit.

[0010] Furthermore, the movable grandstand includes several grandstand units, and the several grandstand units are arranged in a stepped and retractable manner, with the one at the bottom of the several grandstand units being referred to as the first-level grandstand unit. The first driving unit and the second driving unit act on the first-level grandstand unit to drive it to move along the first horizontal direction. That is, the first driving part and the second driving part are disposed on the first-level grandstand unit, and the second driving part is disposed further away from the reference object than the first driving part. The offset detection module is used to detect the position information of the first-floor grandstand unit in the second horizontal direction; The first distance detection unit and the second distance detection unit are disposed on the side of the first-floor grandstand unit facing the reference object.

[0011] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable. The extension and retraction of the movable grandstand is mainly achieved by driving the movement of the first-level grandstand unit. Therefore, as long as the offset of the first-level grandstand unit in the second horizontal direction is within the tolerance range, the overall offset of the movable grandstand can be guaranteed.

[0012] Furthermore, both the first distance detection unit and the second distance detection unit employ high-precision rangefinders; Specifically, the first distance detection unit and the second distance detection unit are laser rangefinders.

[0013] By adopting the above technical solution, the first distance detection unit and the second distance detection unit are made more reasonable, which can greatly improve the detection accuracy of the first distance detection unit and the second distance detection unit, thereby improving the correction accuracy of the movable grandstand correction system. Specifically, the correction accuracy is improved to ±1.5mm.

[0014] Furthermore, the control module adopts the Modbus communication protocol; specifically, the control module adopts the Modbus RTU communication protocol.

[0015] By adopting the above technical solution, the communication between the control module and the first drive unit, the second drive unit, and the offset detection module through the communication bus is more reasonable; the Modbus communication protocol has strong compatibility, strong anti-interference ability, high reliability, low deployment cost, and is easy to maintain.

[0016] Furthermore, the physical bus interface of the control module adopts the RS-485 serial bus standard, and the control module constructs the communication bus through the physical bus interface; When the first distance detection unit, the second distance detection unit, the first driving unit, and the second driving unit are mounted on the communication bus as slave devices, each of them has a unique device address identifier.

[0017] By adopting the above technical solution, the control module and the communication bus are more rationally integrated. The RS-485 serial bus standard realizes a one-to-many efficient communication architecture, simplifying the system wiring complexity. The RS-485 serial bus standard uses differential signal transmission, which gives it strong anti-interference characteristics. The RS-485 serial bus standard also has the characteristics of long-distance transmission capability and high-speed data transmission, while ensuring the scalability of the system.

[0018] Furthermore, the physical bus interface of the control module includes a differential signal pair, which includes a differential signal A terminal and a differential signal B terminal. The control module constructs a first signal line through the differential signal A terminal and a second signal line through the differential signal B terminal. The communication bus includes the first signal line and the second signal line, and performs signal transmission in a differential transmission mode. The differential transmission method transmits digital signals through the voltage difference between the first signal line and the second signal line; The first distance detection unit has a first detection unit differential communication port, including a first detection unit A end and a first detection unit B end. The first detection unit A end is connected to the first signal line, and the first detection unit B end is connected to the second signal line. The second distance detection unit has a second detection unit differential communication port, including a second detection unit A end and a second detection unit B end. The second detection unit A end is connected to the first signal line, and the second detection unit B end is connected to the second signal line. The first driving unit has a first driving unit differential communication port, including a first driving unit A end and a first driving unit B end. The first driving unit A end is connected to the first signal line, and the first driving unit B end is connected to the second signal line. The second driving unit has a second driving unit differential communication port, including a second driving unit A end and a second driving unit B end. The second driving unit A end is connected to the first signal line, and the second driving unit B end is connected to the second signal line.

[0019] By adopting the above technical solution, it is more reasonable for the control module to communicate with the drive unit and the offset detection module through the communication bus.

[0020] Furthermore, the control module has a bus communication unit, and the bus communication unit is equipped with the communication bus.

[0021] The above technical solution makes the control module more reasonable.

[0022] Furthermore, the control module adopts a PLC with a built-in master control communication module or a PLC connected to an external bus communication module.

[0023] The above technical solution makes the control module more reasonable. Specifically, the control module adopts an S7-200SMART or S7-1200 PLC.

[0024] Furthermore, the first drive unit includes a first drive motor and a first motor controller for driving the first drive motor to work. The first motor controller is connected to the control module through the communication bus to receive the first drive motor control command, and the first motor controller drives and controls the speed of the first drive motor according to the first drive motor control command. The second drive unit includes a second drive motor and a second motor controller for driving the second drive motor. The second motor controller is connected to the control module via the communication bus to receive control commands for the second drive motor, and the second motor controller drives and controls the speed of the second drive motor according to the control commands for the second drive motor.

[0025] By adopting the above technical solution, the first drive unit and the second drive unit are more reasonable. The control module sends a first drive motor control command to the first motor controller and a second drive motor control command to the second motor controller through the communication bus. The first motor controller controls the first drive motor according to the first drive motor control command, and the second motor controller controls the second drive motor according to the second drive motor control command. Specifically, the first drive motor drives the movable grandstand through a first drive connection component, which is used to convert the rotational motion of the first drive motor into linear motion; the second drive motor drives the movable grandstand through a second drive connection component, which is used to convert the rotational motion of the second drive motor into linear motion.

[0026] Furthermore, the first drive motor is a variable frequency motor, and correspondingly, the first motor controller is a frequency converter; The second drive motor is a variable frequency motor, and correspondingly, the second motor controller is a frequency converter.

[0027] Using the above technical solution, the first motor controller controls the first drive motor through frequency conversion technology, and the second motor controller controls the second drive motor through frequency conversion technology.

[0028] Furthermore, the movable grandstand correction system includes an obstacle detection module, which is used to detect whether the distance between the movable grandstand and an obstacle is less than a preset value when the grandstand is extended or retracted and to send a corresponding obstacle detection signal. The control module is connected to the obstacle detection module, and the control module controls the working state of the first drive unit and the second drive unit according to the obstacle detection signal sent by the obstacle detection module.

[0029] By adopting the above technical solution, the obstacle detection module makes the movable grandstand correction system safer. Specifically, when the movable grandstand extends or retracts, the obstacle detection module detects whether the distance between the movable grandstand and the obstacle is less than a preset value. When it is less than the preset value, it sends a corresponding obstacle detection signal to the control module. The control module then controls the first drive unit to stop driving, thus preventing the movable grandstand from colliding with the obstacle, which includes the reference object.

[0030] Furthermore, the first-floor grandstand unit has a first opposing side and a second opposing side arranged opposite to each other in the first horizontal direction, and a third opposing side and a fourth opposing side arranged opposite to each other in the second horizontal direction. The corner where the first opposing side intersects with the third opposing side is called the first corner, the corner where the first opposing side intersects with the fourth opposing side is called the second corner, the corner where the second opposing side intersects with the third opposing side is called the third corner, and the corner where the second opposing side intersects with the fourth opposing side is called the fourth corner. The obstacle detection module includes a first obstacle detection unit, a second obstacle detection unit, a third obstacle detection unit, and a fourth obstacle detection unit. The first obstacle detection unit detects whether the distance between the first corner of the first-level grandstand unit and an obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. The second obstacle detection unit detects whether the distance between the second corner of the first-level grandstand unit and an obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. The third obstacle detection unit detects whether the distance between the third corner of the first-level grandstand unit and an obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. The fourth obstacle detection unit is used to detect whether the distance between the fourth corner of the first-floor grandstand unit and the obstacle is less than a preset value when the first-floor grandstand unit moves and sends a corresponding obstacle detection signal. The control module is connected to the first obstacle detection unit, the second obstacle detection unit, the third obstacle detection unit, and the fourth obstacle detection unit, and the control module controls the working state of the first drive unit and the second drive unit according to the corresponding obstacle detection signals sent by the first obstacle detection unit, the second obstacle detection unit, the third obstacle detection unit, and the fourth obstacle detection unit.

[0031] By adopting the above technical solution, the obstacle detection module becomes more reasonable. As long as the safety of the first-floor grandstand unit during its operation is ensured, the safety of the retraction and extension of the movable grandstand can also be guaranteed. Specifically, when the first-floor grandstand unit is in operation, its first, second, third, and fourth corners are most likely to collide with obstacles. Therefore, a first obstacle detection unit, a second obstacle detection unit, a third obstacle detection unit, and a fourth obstacle detection unit are set to detect whether the distance between the first, second, third, and fourth corners and the obstacle is less than a preset value.

[0032] Furthermore, the first obstacle detection unit is a proximity switch and is located at the first corner of the first-floor grandstand unit; The second obstacle detection unit is a proximity switch and is located at the second corner of the first-floor grandstand unit; The third obstacle detection unit is a proximity switch and is located at the triangular part of the first-floor grandstand unit; The fourth obstacle detection unit is a proximity switch and is located at the fourth corner of the first-floor grandstand unit.

[0033] By adopting the above technical solution, the first obstacle detection unit, the second obstacle detection unit, the third obstacle detection unit, and the fourth obstacle detection unit become more reasonable.

[0034] Furthermore, the movable grandstand correction system includes a wireless remote control module, which can establish a wireless communication connection with a wireless remote control device to receive wireless remote control commands issued by the wireless remote control device. The wireless remote control module is electrically connected to the control module and is used to send corresponding remote control operation signals to the control module according to the received wireless remote control commands. The control module controls the operating status of the movable grandstand correction system according to the remote control operation signals.

[0035] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable; the wireless remote control module allows users to remotely control the platform by operating the wireless remote control device, facilitating actual operation; for example, if a user operates the extend button on the wireless remote control device, the wireless remote control module will receive the corresponding wireless remote control command and send the corresponding remote control operation signal to the control module, which then controls the first drive unit and the second drive unit to extend the movable grandstand.

[0036] Furthermore, the wireless remote control module includes a wireless remote control unit and functional relays. The number of functional relays matches the wireless remote control function requirements. The wireless remote control unit can establish a wireless communication connection with the wireless remote control device to receive wireless remote control commands issued by the wireless remote control device. The wireless remote control unit is connected to the functional relays and controls the on / off state of the corresponding functional relays according to the received wireless remote control commands, so that the contact switches of the corresponding functional relays are activated, thereby realizing the sending of different remote control operation signals to the control module.

[0037] The above technical solution makes the wireless remote control module more reasonable; specifically, the wireless remote control device can send the wireless remote control extension command, the wireless remote control retraction command, and the wireless remote control stop command to the wireless remote control module. Correspondingly, the functional relays include extension functional relays, retraction functional relays, and stop functional relays. More specifically, the stop wireless remote control command includes a first stop wireless remote control command and a second stop wireless remote control command, and correspondingly, the stop function relay includes a first stop function relay and a second stop function relay.

[0038] Furthermore, each of the functional relays includes a relay coil and at least one pair of contacts, which can be normally open or normally closed. The relay coil is electrically connected to the output terminal of the wireless remote control unit, and the contacts are electrically connected to the input terminal of the control module. When the wireless remote control unit applies a driving voltage to the relay coil of a specific functional relay, the functional relay is energized and its contact state changes, transmitting a corresponding operation command signal to the control module.

[0039] By adopting the above technical solution, the functional relay becomes more reasonable.

[0040] Furthermore, the movable grandstand correction system includes several function switches for receiving manual operation inputs from users. The number of function switches is configured according to the system control requirements. Each function switch is electrically connected to the control module and sends a corresponding operation signal to the control module according to the received manual operation input. The control module controls the operating status of the movable grandstand correction system according to the received operation signal.

[0041] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable, and users can operate the function switch to control the movement of the movable grandstand.

[0042] Furthermore, the function switches include a grandstand extension function switch, a grandstand retraction function switch, and a grandstand stop function switch.

[0043] By adopting the above technical solution, the function switch becomes more reasonable.

[0044] A movable grandstand, including the aforementioned movable grandstand correction system.

[0045] By adopting the above technical solution, the movable grandstand is made more reasonable and can be corrected during the extension and retraction of the movable grandstand; it not only simplifies the actual wiring and cabling, but also significantly reduces the system response time, increases system stability, and improves system scalability.

[0046] Compared with the prior art, the present invention has the following beneficial effects: (1) The movable grandstand correction system and movable grandstand of this utility model can detect the position information of the movable grandstand in the second horizontal direction in real time by setting an offset detection module, so that the control module can accurately realize the correction and avoid the grandstand from deviating. Furthermore, the communication bus is used to realize the communication connection between the modules, which greatly simplifies the structure of the movable grandstand correction system, simplifies the actual wiring and cabling, and can significantly reduce the system response time, increase the system stability, and improve the system scalability.

[0047] (2) The movable grandstand correction system and movable grandstand of this utility model are reasonably designed. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. 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.

[0049] Figure 1 This is a schematic diagram of the electrical structure of the movable grandstand correction system of this utility model; Figure 2 This is a schematic diagram of the structure of the movable grandstand correction system of this utility model; Figure 3 This is a schematic diagram of the operation process of the movable grandstand correction system of this utility model; The component names corresponding to the various reference numerals in the figure are as follows: 1. Control module; 101. Physical bus interface; 101-1. Differential signal terminal pair; 101-1a. Differential signal A terminal; 101-1b. Differential signal B terminal; 102. Bus communication unit; 2. Communication bus; 201. First signal line; 202. Second signal line; 3. Drive module; 301. First drive unit; 301-1. First drive unit differential communication port; 301-1a. First drive unit A terminal; 301-1b. First drive unit B terminal; M1. First drive motor; VFD1. First motor controller; 301-2, First drive connection component; 302, Second drive unit; 302-1, Differential communication port of the second drive unit; 302-1a, A end of the second drive unit; 302-1b, B end of the second drive unit; M2, Second drive motor; VFD2, Second motor controller; 302-2, Second drive connection component; 4, Offset detection module; 401, First distance detection unit; 401-1, Differential communication port of the first detection unit; 401-1a, A end of the first detection unit; 401-1b, B end of the first detection unit; 402, Second distance detection unit; 402-1, The first drive connection component; 302-2, Second drive unit; 302-3, Differential communication port of the second drive unit; 302-1a, A end of the second drive unit; 302-1b, The second drive unit; M2, Second drive motor; VFD2, Second motor controller; 302-2, Second drive connection component; 4, Offset detection module; 401, First distance detection unit; 302-1, The second drive connection component; 302-2, Second drive unit; 302-3, The second drive connection component ... Differential communication port of the second detection unit; 402-1a, second detection unit A end; 402-1b, second detection unit B end; 5, obstacle detection module; SJ1, first obstacle detection unit; SJ2, second obstacle detection unit; SJ3, third obstacle detection unit; SJ4, fourth obstacle detection unit; 6, wireless remote control module; YK, wireless remote control unit; K, functional relay; K1, extension function relay; K2, retraction function relay; KS, stop function relay; K3, first stop function relay; K4, second stop function relay; 601, relay coil; 60 2. Contact; 7. Function switch; SB1. Grandstand extension function switch; SB2. Grandstand retraction function switch; SB3. Grandstand stop function switch; 100. Grandstand unit; 100-1. First-floor grandstand unit; 100-1a. First driving unit; 100-1b. Second driving unit; 100-1c. First opposite side; 100-1d. Second opposite side; 100-1e. Third opposite side; 100-1f. Fourth opposite side; 100-1g. First corner; 100-1h. Second corner; 100-1i. Third corner; 100-1j. Fourth corner; 200. Reference point. Detailed Implementation

[0050] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0051] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0053] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0054] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.

[0055] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0056] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.

[0057] See Figures 1 to 3 This utility model provides a movable grandstand correction system, which is used on a movable grandstand and includes: Control module 1, wherein the control module 1 is provided with a communication bus 2; The driving module 3 includes a first driving unit 301 and a second driving unit 302. The first driving unit 301 acts on the first driving part 100-1a of the movable grandstand, and the second driving unit 302 acts on the second driving part 100-1b of the movable grandstand. The first driving unit 301 and the second driving unit 302 work together to drive the movable grandstand to move along a first horizontal direction. Offset detection module 4, the offset detection module 4 is used to detect the position information of the active grandstand in the second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; The control module 1 is connected to the drive module 3 and the offset detection module 4 via the communication bus 2. The control module 1 is configured to: compare the position information detected by the offset detection module 4 with an internal preset value to obtain the offset amount, and control the first drive unit 301 and the second drive unit 302 to drive the difference in drive speed of the movable grandstand according to the offset amount.

[0058] Using the above technical solution, during the process of the first drive unit 301 and the second drive unit 302 driving the movable grandstand to extend and retract, the offset detection module 4 can detect the position information of the movable grandstand in the second horizontal direction in real time, and send it to the control module 1 through the communication bus 2. The control module 1 compares the position information detected by the offset detection module 4 with the internal preset value to obtain the offset amount, and controls the first drive unit 301 and the second drive unit 302 respectively through the communication bus 2 according to the offset amount, so as to realize the difference in driving speed between the two driving the movable grandstand, so as to correct the offset in the second direction during the extension and retraction of the movable grandstand. Since the control module 1 is connected to the drive unit and the offset detection module 4 via the communication bus 2, the structure of the movable grandstand correction system can be greatly simplified, the actual wiring and cabling can be simplified, the system response time can be significantly reduced, the system stability can be increased, and the system scalability can be improved. Of course, the driving unit and the offset detection module 4 can report their operating status through the communication bus 2. When there is an abnormality in the current operation, they can report to the control module 1 in a timely manner. The control module 1 can then exit the correction operation in a timely manner to avoid driving and / or detection abnormalities leading to greater safety accidents.

[0059] Further, the offset detection module 4 includes a first distance detection unit 401 and a second distance detection unit 402. A reference object 200 is provided on the outer side of the movable grandstand in the second horizontal direction, and the reference object 200 extends along the first horizontal direction. The first distance detection unit 401 and the second distance detection unit 402 are located on the side of the movable grandstand facing the reference object 200, and are spaced apart along the first horizontal direction. The first distance detection unit 401 is used to detect a first distance from its location to the reference object 200, and the second distance detection unit 402 is used to detect a second distance from its location to the reference object 200. The second distance detection unit 402 is communicatively connected to the control module 1 via the communication bus 2, and the control module 1 is configured to: compare the first distance detected by the first distance detection unit 401 with the corresponding internal preset value to obtain a first offset, compare the second distance detected by the second distance detection unit 402 with the corresponding internal preset value to obtain a second offset, and control the driving speed difference of the first drive unit 301 and the second drive unit 302 to drive the movable grandstand according to the first offset and the second offset; specifically, when the first offset exceeds the tolerance range of the preset value and / or the second offset exceeds the tolerance range of the preset value, the control module 1 controls the driving speed difference of the first drive unit 301 and the second drive unit 302 to drive the movable grandstand. The second driving unit 302 is positioned further away from the reference object 200 than the first driving unit 301; The first distance detection unit 401 is closer to the end of the movable grandstand in the extension direction than the second distance detection unit 402; that is, the direction from the second distance detection unit 402 to the first distance detection unit 401 is the extension direction of the movable grandstand.

[0060] By adopting the above technical solution, the offset detection module 4 is more reasonable and can more accurately reflect the position information of the movable grandstand in the second horizontal direction, and can detect the levelness between the movable grandstand and the reference object 200. Generally, the reference object 200 is a wall. When the first offset is less than a preset value and the second offset is less than a preset value, the active grandstand is closer to the reference object 200. The magnitudes of the first offset and the second offset can be compared. If the first offset is larger, it means that the active grandstand detected by the second distance detection unit 402 is closer to the reference object 200. If the second offset is larger, it means that the active grandstand detected by the first distance detection unit 401 is closer to the reference object 200. When the first offset is greater than a preset value and the second offset is greater than a preset value, the entire active grandstand moves away from the reference object 200. The magnitudes of the first offset and the second offset can be compared. If the first offset is larger, it means that the active grandstand detected by the first distance detection unit 401 is further away from the reference object 200. If the second offset is larger, it means that the active grandstand detected by the second distance detection unit 402 is further away from the reference object 200. When the first offset is less than a preset value and the second offset is greater than a preset value, the detection point of the first distance detection unit 401 in the movable grandstand is closer to the reference object 200, and the detection point of the second distance detection unit 402 in the movable grandstand is farther away from the reference object 200. When the first offset is greater than a preset value and the second offset is less than a preset value, the detection point of the first distance detection unit 401 in the movable grandstand is far away from the reference object 200, and the detection point of the second distance detection unit 402 in the movable grandstand is close to the reference object 200. When the first offset equals a preset value and the second offset equals a preset value, the active grandstand does not shift.

[0061] When the driving speed of the first driving unit 301 driving the movable grandstand is increased, and / or the driving speed of the second driving unit 302 driving the movable grandstand is decreased, the end of the movable grandstand in the extension direction will shift away from the reference object 200. The control module 1 controls the first drive unit 301 and the second drive unit 302 to cause the movable grandstand to swing, thereby achieving deviation correction, specifically as follows: During the extension of the movable grandstand, when the driving speed of the movable grandstand driven by the first driving unit 301 is increased and / or the driving speed of the movable grandstand driven by the second driving unit 302 is decreased, the end of the movable grandstand in the extension direction will shift away from the reference object 200, and the end of the movable grandstand in the retraction direction will shift towards the reference object 200; when the driving speed of the movable grandstand driven by the first driving unit 301 is decreased and / or the driving speed of the movable grandstand driven by the second driving unit 302 is increased, the end of the movable grandstand in the extension direction will shift towards the reference object 200, and the end of the movable grandstand in the retraction direction will shift away from the reference object 200. During the retraction of the movable grandstand, when the driving speed of the movable grandstand driven by the first driving unit 301 is increased and / or the driving speed of the movable grandstand driven by the second driving unit 302 is decreased, the end of the movable grandstand in the extension direction will shift towards the reference object 200, and the end of the movable grandstand in the retraction direction will shift away from the reference object 200; when the driving speed of the movable grandstand driven by the first driving unit 301 is decreased and / or the driving speed of the movable grandstand driven by the second driving unit 302 is increased, the end of the movable grandstand in the extension direction will shift away from the reference object 200, and the end of the movable grandstand in the retraction direction will shift towards the reference object 200. Furthermore, the swing center point of the movable grandstand is determined by the difference in driving speed between the first drive unit 301 and the second drive unit 302.

[0062] Furthermore, the movable grandstand includes a plurality of grandstand units 100, and the plurality of grandstand units 100 are arranged in a stepped and retractable manner. The one at the bottom of the plurality of grandstand units 100 is referred to as the first-level grandstand unit 100-1. The first driving unit 301 and the second driving unit 302 act on the first-level grandstand unit 100-1 to drive it to move along the first horizontal direction. That is, the first driving part 100-1a and the second driving part 100-1b are disposed on the first-level grandstand unit 100-1, and the second driving part 100-1b is disposed further away from the reference object 200 than the first driving part 100-1a. The offset detection module 4 is used to detect the position information of the first-floor grandstand unit 100-1 in the second horizontal direction; The first distance detection unit 401 and the second distance detection unit 402 are disposed on the side of the first-floor grandstand unit 100-1 facing the reference object 200.

[0063] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable. The extension and retraction of the movable grandstand is mainly achieved by driving the movement of the first-level grandstand unit 100-1. Therefore, as long as the offset of the first-level grandstand unit 100-1 in the second horizontal direction is within the tolerance range, the overall offset of the movable grandstand can be guaranteed.

[0064] Furthermore, the first distance detection unit 401 and the second distance detection unit 402 employ high-precision rangefinders; Specifically, the first distance detection unit 401 and the second distance detection unit 402 are laser rangefinders.

[0065] By adopting the above technical solution, the first distance detection unit 401 and the second distance detection unit 402 are more reasonable, which can greatly improve the detection accuracy of the first distance detection unit 401 and the second distance detection unit 402, thereby improving the correction accuracy of the movable grandstand correction system. Specifically, the correction accuracy is improved to ±1.5mm.

[0066] Furthermore, the control module 1 adopts the Modbus communication protocol; specifically, the control module 1 adopts the Modbus RTU communication protocol.

[0067] By adopting the above technical solution, the communication between the control module 1 and the first drive unit 301, the second drive unit 302 and the offset detection module 4 through the communication bus 2 is more reasonable; the Modbus communication protocol has strong compatibility, strong anti-interference ability, high reliability, low deployment cost and easy maintenance.

[0068] Furthermore, the physical bus interface 101 of the control module 1 adopts the RS-485 serial bus standard, and the control module 1 constructs the communication bus 2 through the physical bus interface 101; When the first distance detection unit 401, the second distance detection unit 402, the first driving unit 301, and the second driving unit 302 are mounted on the communication bus 2 as slave devices, each has a unique device address identifier.

[0069] By adopting the above technical solution, the control module 1 and the communication bus 2 are more rationally connected. The RS-485 serial bus standard realizes a one-to-many efficient communication architecture, which simplifies the system wiring complexity. The RS-485 serial bus standard uses differential signal transmission, which gives it strong anti-interference characteristics. The RS-485 serial bus standard has both long-distance transmission capability and high-speed data transmission characteristics, and it also ensures the scalability of the system.

[0070] Furthermore, the physical bus interface 101 of the control module 1 includes a differential signal terminal pair 101-1, which includes a differential signal A terminal 101-1a and a differential signal B terminal 101-1b. The control module 1 constructs a first signal line 201 through the differential signal A terminal 101-1a and a second signal line 202 through the differential signal B terminal 101-1b. The communication bus 2 includes the first signal line 201 and the second signal line 202, and performs signal transmission in a differential transmission mode. The differential transmission method transmits digital signals through the voltage difference between the first signal line 201 and the second signal line 202. The first distance detection unit 401 has a first detection unit differential communication port 401-1, including a first detection unit A end 401-1a and a first detection unit B end 401-1b. The first detection unit A end 401-1a is connected to the first signal line 201, and the first detection unit B end 401-1b is connected to the second signal line 202. The second distance detection unit 402 has a second detection unit differential communication port 402-1, including a second detection unit A end 402-1a and a second detection unit B end 402-1b. The second detection unit A end 402-1a is connected to the first signal line 201, and the second detection unit B end 402-1b is connected to the second signal line 202. The first driving unit 301 has a first driving unit differential communication port 301-1, including a first driving unit A end 301-1a and a first driving unit B end 301-1b. The first driving unit A end 301-1a is connected to the first signal line 201, and the first driving unit B end 301-1b is connected to the second signal line 202. The second driving unit 302 has a second driving unit differential communication port 302-1, including a second driving unit A end 302-1a and a second driving unit B end 302-1b. The second driving unit A end 302-1a is connected to the first signal line 201, and the second driving unit B end 302-1b is connected to the second signal line 202.

[0071] By adopting the above technical solution, it is more reasonable for the control module 1 to communicate with the drive unit and the offset detection module 4 through the communication bus 2.

[0072] Furthermore, the control module 1 has a bus communication unit 102, and the bus communication unit 102 is provided with the communication bus 2.

[0073] By adopting the above technical solution, the control module 1 becomes more reasonable.

[0074] Furthermore, the control module 1 is a PLC with a built-in master control communication module or a PLC connected to an external bus communication module.

[0075] By adopting the above technical solution, the control module 1 becomes more reasonable. Specifically, the control module 1 uses an S7-200SMART or S7-1200 PLC.

[0076] Furthermore, the first drive unit 301 includes a first drive motor M1 and a first motor controller VFD1 for driving the first drive motor M1 to work. The first motor controller VFD1 is connected to the control module 1 through the communication bus 2 to receive control commands for the first drive motor M1, and the first motor controller VFD1 drives and controls the speed of the first drive motor M1 according to the control commands for the first drive motor M1. The second drive unit 302 includes a second drive motor M2 and a second motor controller VFD2 for driving the second drive motor M2. The second motor controller VFD2 is connected to the control module 1 through the communication bus 2 to receive control commands for the second drive motor M2, and the second motor controller VFD2 drives and controls the speed of the second drive motor M2 according to the control commands for the second drive motor M2.

[0077] By adopting the above technical solution, the first drive unit 301 and the second drive unit 302 are more reasonable. The control module 1 sends a first drive motor M1 control command to the first motor controller VFD1 and a second drive motor M2 control command to the second motor controller VFD2 through the communication bus 2. The first motor controller VFD1 controls the first drive motor M1 according to the first drive motor M1 control command, and the second motor controller VFD2 controls the second drive motor M2 according to the second drive motor M2 control command. Specifically, the first drive motor M1 drives the movable grandstand through the first drive connection component 301-2, which is used to convert the rotational motion of the first drive motor M1 into linear motion; the second drive motor M2 drives the movable grandstand through the second drive connection component 302-2, which is used to convert the rotational motion of the second drive motor M2 into linear motion.

[0078] Furthermore, the first drive motor M1 is a variable frequency motor, and correspondingly, the first motor controller VFD1 is a frequency converter; The second drive motor M2 is a variable frequency motor, and correspondingly, the second motor controller VFD2 is a frequency converter.

[0079] Using the above technical solution, the first motor controller VFD1 controls the first drive motor M1 through frequency conversion technology, and the second motor controller VFD2 controls the second drive motor M2 through frequency conversion technology.

[0080] Furthermore, the movable grandstand correction system includes an obstacle detection module 5, which is used to detect whether the distance between the movable grandstand and the obstacle is less than a preset value when the movable grandstand is extended or retracted and to send a corresponding obstacle detection signal. The control module 1 is connected to the obstacle detection module 5, and the control module 1 controls the working state of the first drive unit 301 and the second drive unit 302 according to the obstacle detection signal sent by the obstacle detection module 5.

[0081] By adopting the above technical solution, the obstacle detection module 5 makes the movable grandstand correction system safer. Specifically, when the movable grandstand extends or retracts, the obstacle detection module 5 detects whether the distance between the movable grandstand and the obstacle is less than a preset value. When it is less than the preset value, it sends a corresponding obstacle detection signal to the control module 1. The control module 1 controls the first drive unit 301 and the first drive unit 301 to stop driving, so as to avoid the movable grandstand from colliding with the obstacle, which includes the reference object 200.

[0082] Further, the first-floor grandstand unit 100-1 has a first opposing side 100-1c and a second opposing side 100-1d arranged opposite each other in the first horizontal direction, and a third opposing side 100-1e and a fourth opposing side 100-1f arranged opposite each other in the second horizontal direction. The corner where the first opposing side 100-1c and the third opposing side 100-1e intersect is designated as the first corner 100-1g, the corner where the first opposing side 100-1c and the fourth opposing side 100-1f intersect is designated as the second corner 100-1h, the corner where the second opposing side 100-1d and the third opposing side 100-1e intersect is designated as the third corner 100-1i, and the corner where the second opposing side 100-1d and the fourth opposing side 100-1f intersect is designated as the fourth corner 100-1j. The obstacle detection module 5 includes a first obstacle detection unit SJ1, a second obstacle detection unit SJ2, a third obstacle detection unit SJ3, and a fourth obstacle detection unit SJ4. The first obstacle detection unit SJ1 detects whether the distance between its first corner 100-1g and an obstacle is less than a preset value when the first-floor grandstand unit 100-1 moves, and sends a corresponding obstacle detection signal. The second obstacle detection unit SJ2 detects whether the distance between its second corner 100-1h and an obstacle is less than a preset value when the first-floor grandstand unit 100-1 moves, and sends a corresponding obstacle detection signal. The third obstacle detection unit SJ3 detects whether the distance between its third corner 100-1i and an obstacle is less than a preset value when the first-floor grandstand unit 100-1 moves. The system sends corresponding obstacle detection signals. The fourth obstacle detection unit SJ4 is used to detect whether the distance between the fourth corner 100-1j and the obstacle is less than a preset value when the first-floor grandstand unit 100-1 moves, and sends corresponding obstacle detection signals. The control module 1 is connected to the first obstacle detection unit SJ1, the second obstacle detection unit SJ2, the third obstacle detection unit SJ3, and the fourth obstacle detection unit SJ4. The control module 1 controls the working state of the first drive unit 301 and the second drive unit 302 according to the corresponding obstacle detection signals sent by the first obstacle detection unit SJ1, the second obstacle detection unit SJ2, the third obstacle detection unit SJ3, and the fourth obstacle detection unit SJ4.

[0083] By adopting the above technical solution, the obstacle detection module 5 becomes more reasonable. As long as the safety of the first-floor grandstand unit 100-1 during its operation is ensured, the safety of the telescopic extension of the movable grandstand can also be guaranteed. Specifically, when the first-floor grandstand unit 100-1 is in operation, its first corner 100-1g, second corner 100-1h, third corner 100-1i, and fourth corner 100-1j are most likely to collide with obstacles. Therefore, the first obstacle detection unit SJ1, the second obstacle detection unit SJ2, the third obstacle detection unit SJ3, and the fourth obstacle detection unit SJ4 are set to detect whether the distance between the first corner 100-1g, the second corner 100-1h, the third corner 100-1i, and the fourth corner 100-1j and the obstacle is less than a preset value.

[0084] Furthermore, the first obstacle detection unit SJ1 is a proximity switch and is located at the first corner 100-1g of the first-floor grandstand unit 100-1; The second obstacle detection unit SJ2 is a proximity switch and is located at the second corner 100-1h of the first-floor grandstand unit 100-1; The third obstacle detection unit SJ3 is a proximity switch and is located at the triangular part 100-1i of the first-floor grandstand unit 100-1. The fourth obstacle detection unit SJ4 is a proximity switch and is located at the fourth corner 100-1j of the first-floor grandstand unit 100-1.

[0085] By adopting the above technical solution, the first obstacle detection unit SJ1, the second obstacle detection unit SJ2, the third obstacle detection unit SJ3, and the fourth obstacle detection unit SJ4 become more reasonable.

[0086] Furthermore, the movable grandstand correction system includes a wireless remote control module 6, which can establish a wireless communication connection with a wireless remote control device to receive wireless remote control commands issued by the wireless remote control device. The wireless remote control module 6 is electrically connected to the control module 1 and is used to send corresponding remote control operation signals to the control module 1 according to the wireless remote control commands it receives. The control module 1 controls the operating status of the movable grandstand correction system according to the remote control operation signals.

[0087] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable; the wireless remote control module 6 allows users to achieve wireless remote control by operating the wireless remote control device, which is convenient for actual operation; for example, if a user operates the extend button on the wireless remote control device, the wireless remote control module 6 will receive the corresponding wireless remote control command and send the corresponding remote control operation signal to the control module 1, and the control module 1 will control the first drive unit 301 and the second drive unit 302 to drive the movable grandstand to extend.

[0088] Furthermore, the wireless remote control module 6 includes a wireless remote control unit YK and a functional relay K. The number of functional relays K is matched with the wireless remote control function requirements. The wireless remote control unit YK can establish a wireless communication connection with the wireless remote control device to receive wireless remote control commands issued by the wireless remote control device. The wireless remote control unit YK is connected to the functional relay K and controls the on / off state of the corresponding functional relay K according to the received wireless remote control command, so that the contact 602 of the corresponding functional relay K switches and operates, thereby sending different remote control operation signals to the control module 1.

[0089] The above technical solution makes the wireless remote control module 6 more reasonable; specifically, the wireless remote control device can send the wireless remote control extension command, the wireless remote control retraction command, and the wireless remote control stop command to the wireless remote control module 6. Correspondingly, the functional relay K includes the extension functional relay K1, the retraction functional relay K2, and the stop functional relay KS. More specifically, the stop wireless remote control command includes a first stop wireless remote control command and a second stop wireless remote control command, and correspondingly, the stop function relay KS includes a first stop function relay K3 and a second stop function relay K4.

[0090] Furthermore, each of the functional relays K includes a relay coil 601 and at least one pair of contacts 602. The contacts 602 can be normally open or normally closed. The relay coil 601 is electrically connected to the output terminal of the wireless remote control unit YK, and the contacts 602 are electrically connected to the input terminal of the control module 1. When the wireless remote control unit YK applies a driving voltage to the relay coil 601 of a specific functional relay K, the functional relay K is energized and closed, the state of its contacts 602 changes, and it transmits a corresponding operation command signal to the control module 1.

[0091] By adopting the above technical solution, the functional relay K becomes more reasonable.

[0092] Furthermore, the movable grandstand correction system includes several function switches 7 for receiving manual operation inputs from users. The number of function switches 7 is configured according to the system control requirements. Each function switch 7 is electrically connected to the control module 1 and sends a corresponding operation signal to the control module 1 according to the received manual operation input. The control module 1 controls the operating status of the movable grandstand correction system according to the received operation signal.

[0093] By adopting the above technical solution, the movable grandstand correction system becomes more reasonable, and users can operate the function switch 7 to control the movement of the movable grandstand.

[0094] Furthermore, the function switch 7 includes a grandstand extension function switch SB1, a grandstand retraction function switch SB2, and a grandstand stop function switch SB3.

[0095] By adopting the above technical solution, the function switch 7 becomes more reasonable.

[0096] A movable grandstand, including the aforementioned movable grandstand correction system.

[0097] By adopting the above technical solution, the movable grandstand is made more reasonable and can be corrected during the extension and retraction of the grandstand; it not only simplifies the actual wiring and cabling, but also significantly reduces the system response time, increases system stability, and improves system scalability.

[0098] The same or similar parts between the various embodiments in this specification can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be defined by the scope of the claims.

Claims

1. A movable grandstand correction system, used on a movable grandstand, characterized in that, include: Control module (1), the control module (1) is equipped with a communication bus (2); The driving module (3) includes a first driving unit (301) and a second driving unit (302). The first driving unit (301) acts on the first driving part (100-1a) of the movable grandstand, and the second driving unit (302) acts on the second driving part (100-1b) of the movable grandstand. The first driving unit (301) and the second driving unit (302) work together to drive the movable grandstand to move along the first horizontal direction. Offset detection module (4), the offset detection module (4) is used to detect the position information of the active grandstand in the second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction; The control module (1) is connected to the drive module (3) and the offset detection module (4) via the communication bus (2), and the control module (1) is configured to: compare the position information detected by the offset detection module (4) with the internal preset value to obtain the offset amount, and control the first drive unit (301) and the second drive unit (302) to drive the difference in drive speed of the active grandstand according to the offset amount.

2. The movable grandstand correction system according to claim 1, characterized in that: The offset detection module (4) includes a first distance detection unit (401) and a second distance detection unit (402). A reference object (200) is provided on the outer side of the movable grandstand in the second horizontal direction, and the reference object (200) extends along the first horizontal direction. The first distance detection unit (401) and the second distance detection unit (402) are located on the side of the movable grandstand facing the reference object (200), and are spaced apart along the first horizontal direction. The first distance detection unit (401) is used to detect a first distance from its location to the reference object (200), and the second distance detection unit (402) is used to detect a second distance. The measuring unit (402) is used to detect the second distance from its setting point to the reference object (200). The first distance detection unit (401) and the second distance detection unit (402) are connected to the control module (1) through the communication bus (2). The control module (1) is configured to: compare the first distance detected by the first distance detection unit (401) with the corresponding internal preset value to obtain a first offset, compare the second distance detected by the second distance detection unit (402) with the corresponding internal preset value to obtain a second offset, and control the first drive unit (301) and the second drive unit (302) to drive the difference in drive speed of the movable grandstand according to the first offset and the second offset. The second drive unit (302) is positioned further away from the reference object (200) than the first drive unit (301).

3. The movable grandstand correction system according to claim 2, characterized in that: The active grandstand includes several grandstand units (100), and the several grandstand units (100) are arranged in a stepped and retractable manner. The one at the bottom of the several grandstand units (100) is called the first-level grandstand unit (100-1). The first driving unit (301) and the second driving unit (302) act on the first-floor grandstand unit (100-1) to drive it to move along the first horizontal direction; The offset detection module (4) is used to detect the position information of the first-floor grandstand unit (100-1) in the second horizontal direction; The first distance detection unit (401) and the second distance detection unit (402) are disposed on the side of the first-floor grandstand unit (100-1) facing the reference object (200).

4. The movable grandstand correction system according to claim 2, characterized in that: The first distance detection unit (401) and the second distance detection unit (402) are equipped with high-precision rangefinders; The first distance detection unit (401) and the second distance detection unit (402) are laser rangefinders.

5. The movable grandstand correction system according to claim 2, characterized in that: The control module (1) adopts the Modbus communication protocol; The physical bus interface (101) of the control module (1) adopts the RS-485 serial bus standard, and the control module (1) constructs the communication bus (2) through the physical bus interface (101). When the first distance detection unit (401), the second distance detection unit (402), the first driving unit (301), and the second driving unit (302) are mounted on the communication bus (2) as slave devices, each has a unique device address identifier; The physical bus interface (101) of the control module (1) includes a differential signal terminal pair (101-1), which includes a differential signal A terminal (101-1a) and a differential signal B terminal (101-1b). The control module (1) constructs a first signal line (201) through the differential signal A terminal (101-1a) and a second signal line (202) through the differential signal B terminal (101-1b). The communication bus (2) includes the first signal line (201) and the second signal line (202) and transmits signals in a differential transmission mode. The first distance detection unit (401) has a first detection unit differential communication port (401-1), including a first detection unit A end (401-1a) and a first detection unit B end (401-1b). The first detection unit A end (401-1a) is connected to the first signal line (201), and the first detection unit B end (401-1b) is connected to the second signal line (202). The second distance detection unit (402) has a second detection unit differential communication port (402-1), including a second detection unit A end (402-1a) and a second detection unit B end (402-1b). The second detection unit A end (402-1a) is connected to the first signal line (201), and the second detection unit B end (402-1b) is connected to the second signal line (202). The first driving unit (301) has a first driving unit differential communication port (301-1), including a first driving unit A end (301-1a) and a first driving unit B end (301-1b). The first driving unit A end (301-1a) is connected to the first signal line (201), and the first driving unit B end (301-1b) is connected to the second signal line (202). The second driving unit (302) has a second driving unit differential communication port (302-1), including a second driving unit A end (302-1a) and a second driving unit B end (302-1b). The second driving unit A end (302-1a) is connected to the first signal line (201), and the second driving unit B end (302-1b) is connected to the second signal line (202). The control module (1) has a bus communication unit (102), and the bus communication unit (102) is provided with the communication bus (2). The control module (1) is a PLC with a built-in master control communication module or a PLC connected to an external bus communication module.

6. The movable grandstand correction system according to claim 2, characterized in that: The first drive unit (301) includes a first drive motor (M1) and a first motor controller (VFD1) for driving the first drive motor (M1) to work. The first motor controller (VFD1) is connected to the control module (1) through the communication bus (2) to receive control commands from the first drive motor (M1), and the first motor controller (VFD1) drives and controls the speed of the first drive motor (M1) according to the control commands from the first drive motor (M1). The second drive unit (302) includes a second drive motor (M2) and a second motor controller (VFD2) for driving the second drive motor (M2) to work. The second motor controller (VFD2) is connected to the control module (1) through the communication bus (2) to receive control commands from the second drive motor (M2), and the second motor controller (VFD2) drives and controls the speed of the second drive motor (M2) according to the control commands from the second drive motor (M2). The first drive motor (M1) is a variable frequency motor, and correspondingly, the first motor controller (VFD1) is a frequency converter; The second drive motor (M2) is a variable frequency motor, and correspondingly, the second motor controller (VFD2) is a frequency converter.

7. The movable grandstand correction system according to claim 3, characterized in that: The system includes an obstacle detection module (5), which is used to detect whether the distance between the movable grandstand and the obstacle is less than a preset value when the grandstand is extended and retracted and to send a corresponding obstacle detection signal. The control module (1) is connected to the obstacle detection module (5), and the control module (1) controls the working state of the first drive unit (301) and the second drive unit (302) according to the obstacle detection signal sent by the obstacle detection module (5). The first-floor grandstand unit (100-1) has a first opposing side (100-1c) and a second opposing side (100-1d) arranged opposite to each other in the first horizontal direction, and a third opposing side (100-1e) and a fourth opposing side (100-1f) arranged opposite to each other in the second horizontal direction. The corner where the first opposing side (100-1c) intersects with the third opposing side (100-1e) is designated as the first corner (100-1g), the corner where the first opposing side (100-1c) intersects with the fourth opposing side (100-1f) is designated as the second corner (100-1h), the corner where the second opposing side (100-1d) intersects with the third opposing side (100-1e) is designated as the third corner (100-1i), and the corner where the second opposing side (100-1d) intersects with the fourth opposing side (100-1f) is designated as the fourth corner (100-1j). The obstacle detection module (5) includes a first obstacle detection unit (SJ1), a second obstacle detection unit (SJ2), a third obstacle detection unit (SJ3), and a fourth obstacle detection unit (SJ4). The first obstacle detection unit (SJ1) is used to detect whether the distance between the first corner (100-1g) of the first-floor grandstand unit (100-1) and the obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. The second obstacle detection unit (SJ2) is used to detect whether the distance between the second corner (100-1h) of the first-floor grandstand unit (100-1) and the obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. The third obstacle detection unit (SJ3) is used to detect whether the distance between the third corner (100-1i) of the first-floor grandstand unit (100-1) and the obstacle is less than a preset value when the unit moves, and sends a corresponding obstacle detection signal. Sending corresponding obstacle detection signals, the fourth obstacle detection unit (SJ4) is used to detect whether the distance between the fourth corner (100-1j) of the first-floor grandstand unit (100-1) and the obstacle is less than a preset value when the first-floor grandstand unit (100-1) moves and sends corresponding obstacle detection signals. The control module (1) is connected to the first obstacle detection unit (SJ1), the second obstacle detection unit (SJ2), the third obstacle detection unit (SJ3), and the fourth obstacle detection unit (SJ4). The control module (1) controls the working state of the first drive unit (301) and the second drive unit (302) according to the corresponding obstacle detection signals sent by the first obstacle detection unit (SJ1), the second obstacle detection unit (SJ2), the third obstacle detection unit (SJ3), and the fourth obstacle detection unit (SJ4). The first obstacle detection unit (SJ1) is a proximity switch and is located at the first corner (100-1g) of the first-floor grandstand unit (100-1); The second obstacle detection unit (SJ2) is a proximity switch and is located at the second corner (100-1h) of the first-floor grandstand unit (100-1); The third obstacle detection unit (SJ3) is a proximity switch and is located at the triangular part (100-1i) of the first-floor grandstand unit (100-1); The fourth obstacle detection unit (SJ4) is a proximity switch and is located at the fourth corner (100-1j) of the first-floor grandstand unit (100-1).

8. The movable grandstand correction system according to claim 1, characterized in that: It includes a wireless remote control module (6), which can establish a wireless communication connection with a wireless remote control device to receive wireless remote control commands issued by the wireless remote control device. The wireless remote control module (6) is electrically connected to the control module (1) and is used to send a corresponding remote control operation signal to the control module (1) according to the wireless remote control command it receives. The control module (1) controls the operation status of the active grandstand correction system according to the remote control operation signal. The wireless remote control module (6) includes a wireless remote control unit (YK) and a functional relay (K). The number of functional relays (K) is matched with the wireless remote control function requirements. The wireless remote control unit (YK) can establish a wireless communication connection with the wireless remote control device to receive the wireless remote control command issued by the wireless remote control device. The wireless remote control unit (YK) is connected to the functional relay (K) and controls the on / off state of the corresponding functional relay (K) according to the wireless remote control command it receives, so that the contact (602) of the corresponding functional relay (K) switches and operates, thereby realizing the sending of different remote control operation signals to the control module (1).

9. The movable grandstand correction system according to claim 1, characterized in that: It includes several function switches (7) for receiving manual operation input from users. The number of function switches (7) is configured according to the system control requirements. Each function switch (7) is electrically connected to the control module (1) and sends a corresponding operation signal to the control module (1) according to the manual operation input it receives. The control module (1) controls the operation status of the active grandstand correction system according to the received operation signal. The function switches (7) include a grandstand extension function switch (SB1), a grandstand retraction function switch (SB2), and a grandstand stop function switch (SB3).

10. A movable grandstand, characterized in that: Includes the active grandstand correction system as described in any one of claims 1 to 9.

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