Control method for actuator, and actuator, vehicle and storage medium

Abstract

A control method for an actuator (100), and an actuator (100), a vehicle (200) and a storage medium. The control method for an actuator (100) comprises: in response to a starting instruction, acquiring a stored identification code value (S100); on the basis of the identification code value (S200), determining the current execution position of an actuator (100); and on the basis of an execution state at the current execution position, controlling the actuator (100) to reset (S300).

Description

Control method of actuator, actuator, vehicle and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 21, 2023, with application number 202311554939.8 and entitled “Control method of actuator, actuator, vehicle and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of vehicles, and in particular to a control method for an actuator, an actuator, a vehicle, and a storage medium. Background Art

[0004] In related technologies, when an actuator motor fails, it stops. After the fault is resolved and the actuator restarts, it resumes execution from its current position or waits for manual operation. During reset, the actuator motor returns directly to zero, meaning it returns to its original position. This can cause the actuator to reset while performing a grabbing, lifting, or other functional action, potentially causing the grasped or lifted item to fall and damage it. This makes the reset operation unreasonable.

[0005] Public content

[0006] This application aims to solve at least one of the technical problems existing in the prior art. To this end, the first object of this application is to propose a control method for an actuator. This method can control the actuator to reset according to the execution status of the current execution position when the actuator is started. This can avoid the possibility of items falling due to direct reset during functional operation, which is more reasonable.

[0007] The second purpose of this application is to propose an execution mechanism.

[0008] The third object of this application is to provide a vehicle.

[0009] A fourth objective of the present application is to provide a non-volatile computer-readable storage medium.

[0010] In order to solve the above problems, the first embodiment of the present application provides a control method for an actuator, which obtains a stored identification code value in response to a start-up instruction; determines the current execution position of the actuator based on the identification code value; and controls the actuator to reset based on the execution status of the current execution position.

[0011] According to the control method of the actuator of the embodiment of the present application, when starting the reset, the current execution position of the actuator is determined according to the recorded identification code value, and the reset of the actuator is controlled according to the execution status of the current execution position. This can avoid direct reset, especially the unified zero reset of multiple motors, which may cause the grasped items to fall and cause abnormal reset, making the reset operation more reasonable.

[0012] In some embodiments, the identification code value corresponds to at least one of a position where the actuator fails and a position where the actuator completes a preset stage action.

[0013] In some embodiments, the execution status of the current execution position includes: the execution mechanism has executed a functional action or the execution mechanism has not executed a functional action.

[0014] In some embodiments, the execution status of the current execution position is that the actuator has performed a functional action. According to the execution status of the current execution position, controlling the actuator to reset includes: controlling the actuator to reversely execute the steps run in the task cycle according to the current execution position until the various motors of the actuator return to the reset position.

[0015] In some embodiments, controlling the actuator to reversely execute the steps performed in the task cycle according to the current execution position until the motors of the actuator return to the reset position includes: controlling the actuator to gradually retreat from the current execution position in the order of preset operation steps in the task cycle until the motors return to zero and the reset state.

[0016] In some embodiments, the execution state of the current execution position is that the actuator does not perform a functional action. According to the execution state of the current execution position, controlling the actuator to reset includes: controlling each motor of the actuator to directly return to zero and reset.

[0017] In some embodiments, the control method further includes: during operation, when the actuator meets an identification code value recording condition, recording an identification code value corresponding to a current state of the actuator, and storing the identification code value.

[0018] In some embodiments, the actuator meeting the identification code value recording condition includes: at least one of the actuator failing and the actuator completing a preset phased action.

[0019] In some embodiments, the control method further includes: recording the number of times the actuator fails; when the number reaches a preset number, performing a fault alarm and shutting down the actuator according to the identification code value.

[0020] The second aspect of the present application provides an execution mechanism, comprising: at least one processor; and a memory, which is communicatively connected to the at least one processor; wherein the memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, the control method of the execution mechanism described in the above embodiment is implemented.

[0021] According to the actuator of the embodiment of the present application, the control method of the above embodiment is executed by the processor. During the process of starting the reset, the current state of the actuator is determined by the stored identification code value. When starting the reset, the current execution position of the actuator is determined according to the recorded identification code value, and the reset of the actuator is controlled according to the current execution position. This can avoid direct reset, especially the unified zero reset of multiple motors, which may cause the grasped items to fall and cause abnormal reset, making the reset operation more reasonable.

[0022] In some embodiments, the actuator includes a plurality of motors, and the plurality of motors operate in a sequence of preset operating steps within a task cycle.

[0023] In some embodiments, the actuator includes: an X-axis mechanism; an X-axis motion motor, the X-axis motion motor is used to drive the X-axis mechanism to move; a Y-axis mechanism; a Y-axis motion motor, the Y-axis motion motor is used to drive the Y-axis mechanism to move; a clamping mechanism, the clamping mechanism is used to clamp the battery; a clamping motor, the clamping motor is used to drive the clamping mechanism to clamp the battery; a support plate structure, the support plate structure is used to support the battery; and a support plate motor, the support plate motor is used to drive the support plate structure to support the battery.

[0024] In some embodiments, the actuator further includes a rotary motor, and the rotary motor is used to adjust the direction of the actuator.

[0025] A third aspect of the present application provides a vehicle, which includes the actuator described in the above embodiment.

[0026] According to the vehicle of the embodiment of the present application, by adopting the actuator of the above embodiment, during the startup reset process, the current state of the actuator is determined by the stored identification code value. When starting the reset, the current execution position of the actuator is determined according to the recorded identification code value, and the reset of the actuator is controlled according to the current execution position. This can avoid direct reset, especially the unified zero reset of multiple motors, which may cause the grasped items to fall, resulting in abnormal reset, making the reset operation more reasonable.

[0027] In some embodiments, the vehicle further includes an on-board drone hangar, in which batteries are stored, and the actuator is used to clamp the batteries.

[0028] A fourth aspect of the present application provides a non-volatile computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the control method of the actuator described in the above embodiment.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] FIG1 is a flow chart of a control method for an actuator according to an embodiment of the present application;

[0032] FIG2 is a general schematic diagram of the movement of a multi-motor actuator according to one embodiment of the present application;

[0033] FIG3 is a flowchart of a fault detection process according to an embodiment of the present application;

[0034] FIG4 is a flow chart of clamping a battery into an electrical device according to one embodiment of the present application;

[0035] FIG5 is a structural block diagram of one aspect of an actuator according to one embodiment of the present application;

[0036] FIG6 is a structural block diagram of another aspect of an actuator according to an embodiment of the present application;

[0037] FIG7 is a structural block diagram of a vehicle according to an embodiment of the present application.

[0038] Reference numerals:

[0039] Actuator 100, vehicle 200,

[0040] X-axis mechanism 1, Y-axis mechanism 2, clamping mechanism 3, pallet structure 4, rotating motor 5, electrical equipment 6, battery port 7, motor 8, X-axis motion motor 9, Y-axis motion motor 10, clamping motor 11, pallet motor 12, battery 211, processor 101, memory 102, vehicle-mounted drone hangar 210. DETAILED DESCRIPTION

[0041] The following describes in detail embodiments of the present application, and the embodiments described with reference to the accompanying drawings are exemplary.

[0042] In an embodiment, the actuator may include at least one motor, such as one motor or multiple motors, which drives the actuator to complete a task, such as grabbing a battery or lifting a heavy object.

[0043] In the event of an actuator failure or power outage, the actuator will restart after recovery and perform initialization during the restart process, which resets each motor to zero. However, if the motors are reset directly to zero, the actuator may cause the object to fall while performing a functional action, such as grabbing a battery, resulting in unnecessary damage.

[0044] In order to solve the above problems, an embodiment of the present application proposes a control method for an actuator.

[0045] In an embodiment of the present application, the actions within the task cycle of the actuator are split and defined, and the defined actions are mapped to corresponding identification code values. In an embodiment, the corresponding identification code value can be recorded for each state of the actuator, and the corresponding identification code value can also be recorded for states that meet the conditions, such as failures or completion of staged actions. The identification code value can represent the execution stage of the actuator, for example, the position information of the current stage is recorded when a failure occurs. When the actuator is running and the actuator meets the conditions for recording the identification code value, the corresponding identification code value can be recorded. Furthermore, when the actuator is restarted and reset, the corresponding operating position of the actuator can be analyzed based on the identification code value.

[0046] Figure 1 is a flow chart of a method for controlling an actuator according to an embodiment of the present application. As shown in Figure 1 , the method for controlling an actuator includes steps S1-S3.

[0047] S100 , in response to a start instruction, obtaining a stored identification code value.

[0048] S200: Determine the current execution position of the actuator according to the identification code value.

[0049] The identification code value may correspond to a preset state of the actuator, indicating the execution stage of the actuator during a fault recovery restart, such as the location of an abnormal power outage or a fault. Alternatively, a corresponding identification code value may be defined for each state of the actuator.

[0050] In some embodiments, the identification code value corresponds to at least one of a location where the actuator fails and a location where the actuator completes a preset staged action, which can be more targeted and reduce the amount of data. The staged action can be the last action of completing a preset operation step or moving to the end position of the step.

[0051] Specifically, logging begins with the initial state of the motor actuator, recording the corresponding identification code value. When a fault occurs, the current position information is recorded. For example, the identification code value can consist of multiple bytes. For a multi-motor actuator, the first byte can represent the execution of different motors at different stages, while the second and third bytes can represent the position or action completion at the time of the fault.

[0052] Furthermore, after the motor completes a split action, a log is created to record the corresponding identification code value. This value is used to distinguish whether the power outage occurred abnormally. If the power outage occurred abnormally, it indicates that the fault identification code value (represented as the RunCode value in this embodiment) was not recorded in time. In this case, the identification code value is definitely the record of the last completed action.

[0053] S300: Control the execution mechanism to reset according to the execution state of the current execution position.

[0054] Specifically, the recovery startup of the actuator is usually caused by a fault or abnormal power outage. The identification code value of each defined action of the actuator is recorded during operation. When restarting and resetting, the current execution position of the actuator, that is, the fault position or the execution stage at the time of abnormal power outage, can be analyzed based on the identification code value. Among them, the execution status of the current execution position is determined based on the execution of the functional action, for example, including not executing the functional action or having executed the functional action. When the execution status of the current execution position corresponds to an unexecuted functional action, such as grabbing a battery, it can be directly reset to zero. Alternatively, the execution status of the current execution position corresponds to an already executed functional action, such as grabbing a battery. If each motor is directly reset to zero, it is easy to cause the grabbed battery to fall. Therefore, the motor can be reset to zero after the battery is put back in place.

[0055] According to the control method of the actuator of the embodiment of the present application, when starting the reset, the current execution position of the actuator is determined according to the recorded identification code value, and the reset of the actuator is controlled according to the execution status of the current execution position. This can avoid direct reset, especially the unified zero reset of multiple motors, which may cause the grasped items to fall and cause abnormal reset, making the reset operation more reasonable.

[0056] In an embodiment, the execution status of the current execution position may include the actuator having performed a functional action, such as grabbing a battery or lifting a heavy object, and the actuator experiencing a fault or abnormal power outage, recording the corresponding identification code value. During a restart and reset, the identification code value can be used to determine the current execution position of the actuator, identify the current execution position in the task cycle, and identify whether the functional action has been performed.

[0057] The execution status of the current execution position may also include the actuator not executing a functional action, i.e., the stored identification code value corresponds to the step before the actuator executed the functional action. For example, if the actuator fails or experiences an abnormal power outage before executing the functional action, the corresponding identification code value is recorded.

[0058] In an embodiment of the present application, different reset strategies are adopted in different execution stages or execution scenarios of the actuator to avoid the dropping of the execution object, such as a grasped battery, when the actuator is reset.

[0059] In some embodiments, the execution status of the current execution position is that the actuator has executed the functional action. According to the position of the actuator corresponding to the identification code value, that is, the current execution position, the actuator is controlled to reversely execute the steps run in the task cycle until the various motors of the actuator return to the reset position.

[0060] A mission cycle can be understood as the actions or steps an actuator takes to complete a complete mission. For example, a multi-motor actuator in a vehicle-mounted drone hangar takes batteries from the battery compartment and places them into a powered device, or an actuator lifts an object from location A to location B.

[0061] Among them, reverse execution of the steps run in the task cycle can be understood as gradually backing out according to the preset execution order of each step in the task cycle, backing out the steps that have been executed until backing out to the initial state.

[0062] Specifically, the actuator executes the tasks within the task cycle according to the set operation steps. In the embodiment of the present application, the execution actions of the actuator within the task cycle can be split, and corresponding identification code values ​​can be set corresponding to the stage of each action. When resetting, the position of the actuator, i.e., the execution stage, can be identified according to the identification code value. If, during operation, the actuator has executed the steps of the functional action and a fault or abnormal power outage occurs, the identification code value corresponding to this position will be recorded. When resetting, it is determined that the actuator has executed the functional action according to the identification code value, and then, according to the position of the actuator corresponding to the identification code value, the actuator is controlled to gradually retreat until each motor of the actuator retreats to the reset position.

[0063] In an embodiment, when the control actuator is retracted, the control actuator can be controlled to gradually retract from the execution position corresponding to the identification code value, i.e., the current execution position, in the order of preset operation steps within the task cycle, i.e., reversely execute the steps that have been run until each motor returns to zero and reaches the reset state.

[0064] When the actuator is reset, it identifies the current stage of the actuator, that is, the current execution position, based on the identification code value, and then gradually retreats. Therefore, when the actuator has performed a functional action, the battery grasped or the heavy object lifted during the functional action can be returned to the original position by retreating, and then reset to zero, thereby avoiding the fall of the grasped object caused by unified zeroing.

[0065] In other embodiments, if the execution state of the current execution position is that the actuator is not performing a functional action, the various motors of the actuator can be controlled to directly return to zero. Since the functional action is not performed, such as not grabbing a battery, there is no possibility of the battery falling during the reset, and the various motors can be directly controlled to return to zero.

[0066] The following describes the control method of the actuator in an embodiment of the present application by taking the execution task of the multi-motor actuator of the vehicle-mounted drone warehouse from taking batteries from the battery compartment to placing electrical equipment as an example.

[0067] FIG2 is an overall schematic diagram of the movement of an actuator according to an embodiment of the present application. As shown in FIG2 , the actuator may include: an X-axis mechanism 1 , a Y-axis mechanism 2 , a clamping mechanism 3 , a support plate structure 4 and a rotating motor 5 .

[0068] When an item (battery 211) is to be placed into the electrical device 6 through the battery port 7, according to the pre-set operating code, the X-axis mechanism 1 is controlled to move in the X-axis direction to the X-center position of the target battery in the battery compartment, the Y-axis mechanism 2 moves to the Y-position of the target battery in the battery compartment, and the clamping mechanism 3 moves to a position where it can clamp the battery 211. At this time, the battery 211 can be guaranteed to be clamped, and the Y-axis mechanism 2 runs in the opposite direction for a short distance to the position where the support plate structure 4 is ready to extend and support the battery; the support plate structure 4 extends and supports the battery 211, the clamping mechanism 3 clamps the battery 211, and the Y-axis mechanism 2 continues to run in the opposite direction to the position where the rotating motor 5 is ready to rotate to change direction, the rotating motor 5 rotates 90 degrees to point to the electrical device 6, the X-axis mechanism 1 runs to the electrical device 6 with the battery 211 clamped, the support plate structure 4 is ready to retract, and the X-axis mechanism 1 continues to place the battery 211 into the electrical device 6 through the battery port 7; the clamping mechanism 3 is released, and all motors return to zero.

[0069] In the embodiment, the whole process of taking the battery out of the battery compartment and placing it into the electrical equipment is divided into multiple sub-functions according to different motors and different movement points, which generally include: ① the X-axis mechanism moves to the center position facing the battery in the battery compartment; ② the Y-axis mechanism moves to the position ready to clamp the battery; ③ the clamping mechanism clamps the battery; ④ the Y-axis mechanism moves outward to the action position of the pallet structure when the battery is clamped; ⑤ the pallet structure extends and supports the battery; ⑥ the Y-axis mechanism moves to the rotation position; ⑦ the rotating motor rotates; ⑧ the X-axis mechanism moves to the electrical equipment; ⑨ the pallet structure contracts; ⑩ the X-axis mechanism pushes the battery into the electrical equipment.

[0070] Specifically, in the process of the actuator clamping the battery to the electrical device, each step of the actuator operation is encoded. For example, a 3-byte identification code (RunCode) value is provided. The identification code value is printed starting from the initial state of the motor actuator, and the operating status when a fault occurs is recorded in real time. The position information of the current stage is recorded when a fault occurs. The first byte represents the execution status of different motors at different stages. The second and third bytes represent the position quantity or action completion status when a fault occurs. After the motor completes a certain action, the identification code value is printed. This identification code value is used to distinguish whether it is in an abnormal power outage. If the power is abnormally cut off, it means that the fault identification code has not been recorded in time. Then the identification code value at this time must be a record of the last completed action. The last byte FF or 0FFF is a sign representing the completion of the stage action. Therefore, after the actuator receives the start instruction, it first obtains the stored identification code value and analyzes the preset state of the actuator based on the identification code value.

[0071] In a specific embodiment, according to the above sub-action definition, each time the system is restarted, the recorded identification code value needs to be analyzed and the operation is rolled back step by step to avoid all motors being directly reset to zero. This is because the battery has been taken out during the last failure. If all batteries are directly reset to zero during operation, the battery will fall and cause an abnormal original state.

[0072] For example, if the current identification code value is step ⑥, RunCode=0x060123, then the last fault occurred when the Y-axis mechanism reached position 0x123, then the actuator only needs to go back to position 0x123 and then perform the complete retraction action of steps ⑤ to ①; if the obtained RunCode=0x060FFF, it means that the previous action ⑥, the Y-axis mechanism reached the rotation position, has been completed, but the next fault record position ⑦, the rotating motor rotates, is not recorded, indicating that the system power failure occurred while the rotating motor was rotating. At this time, the current position cannot be ensured, and the only option is to perform the rotating motor zeroing action and then retract ⑥-①.

[0073] According to the control method of the actuator of the embodiment of the present application, the current operating status of the actuator is recorded in real time through the stored identification code value. When the actuator recovers and restarts after a fault, the identification code value at this time is analyzed to make the actuator retreat step by step, avoiding the unified reset of all motors to zero, causing the clamped equipment to fall, eliminating the tedious manual operation, and the system retreats all subdivided action record states step by step, achieving intelligent, automated and rational operation.

[0074] In some embodiments, the actuator may include at least one motor. For example, the multi-motor actuator of the vehicle-mounted drone hangar mentioned in the above embodiment may be an actuator including one motor.

[0075] Specifically, based on the identification code values ​​corresponding to each defined action, during operation, when the actuator meets the identification code value recording conditions, the identification code value corresponding to the current state of the actuator is recorded, and the identification code value is stored, so that when restarting and resetting, the execution stage of the actuator can be identified based on the identification code value, which facilitates rollback and reset, and avoids the situation where items are dropped when executing the task.

[0076] In some embodiments, the identification code value RunCode can be recorded for the normal action of the actuator, the fault state, and the completion of the staged action, so that the current execution position of the actuator can be identified in more detail and accurately during reset.

[0077] In other embodiments, the actuator's identification code value recording conditions include at least one of the following: the actuator experiencing a fault or the actuator completing a preset phased action. Completing a preset phased action can include completing the final action of a preset operating step or moving to the end position of that step. Not encoding and recording actions under normal conditions neither affects the operating time of the multi-motor actuator itself nor frequently writes to the non-volatile storage area, thereby avoiding impacting the chip's lifespan. For example, a 3-byte identification code value is set to record the operating status at the time of a fault in real time, recording the actuator's position information at the current stage when a fault occurs. The first byte represents the execution status of the different motors at different stages, while the second and third bytes represent the position value or action completion status at the time of the fault. After the motor completes a particular action, an identification code is generated. This identification code value is used to distinguish whether the motor has experienced an abnormal power outage. If the power outage is abnormal, indicating that the fault identification code was not recorded in time, the identification code value at this time is a record of the last completed action. For example, the last byte can be FF or 0FFF to indicate the completion of the phased action.

[0078] Furthermore, by obtaining the RunCode value, the identification code for each action after a system failure or completion, it is possible to accurately analyze the current automatic operation of all motors in the entire mechanism during system restart or initialization, while also avoiding the situation where all motors are reset to zero and a battery drop occurs. This process is completely automated, eliminating the need for tedious manual operation. The system can also perform a step-by-step rollback of all action records, achieving intelligent, automated, and rational operation.

[0079] In some embodiments, for a multi-motor actuator of a vehicle-mounted drone library, the identification code value records the action status in real time as shown in Table 1 below, where the identification code value is represented by RunCode.

[0080] RunCode = 0x010XXX, representing values ​​from 0x010000 to 0x010FFE, specifically meaning a fault occurred when the X motor moved from zero to position XXX. RunCode = 0x010FFF specifically means the X motor has completed its movement from zero to the center X position of the battery in the battery compartment. Currently, an abnormal power outage occurs during the execution of the next step, with no record.

[0081] RunCode = 0x020XXX, representing a value of 0x020000 to 0x020FFE, specifically meaning that a fault occurred when the Y motor moved from zero to position XXX; RunCode = 0x020FFF, specifically meaning that the Y motor has completed moving from zero to the battery clamping position in the battery compartment, and currently an abnormal power outage occurred when executing the next step and no record was recorded.

[0082] RunCode = 0x0300XX, representing values ​​from 0x030000 to 0x0300FE, specifically meaning a fault occurred when the clamping motor moved from zero to the battery clamping position; RunCode = 0x0300FF, specifically meaning the clamping motor has completed moving from zero to the battery clamping position, but an abnormal power outage occurred during the execution of the next step, with no record.

[0083] RunCode=0x040XXX, the representative value is 0x040000~0x040FFE, which specifically means that a fault occurred when the battery-changing Y-axis motor was moving to the XXXmm position (the battery has been clamped and is moving out); RunCode=0x040FFF, which specifically means that the Y motor has completed the process from clamping the battery to preparing to extend the pallet, and currently an abnormal power outage occurred when executing the next step and no record was recorded.

[0084] RunCode=0x0500XX, the representative value is 0x050000~0x0500FE, which specifically means that a fault occurred when the battery replacement-pallet motor was moving to the XXmm position (preparing to support the battery); RunCode=0x0500FF, which specifically means that the pallet motor has completed the extension action, and an abnormal power outage occurred when executing the next step and there is no record.

[0085] RunCode=0x060XXX, the representative value is 0x060000~0x060FFE, which specifically means that a fault occurred when the battery was being replaced - the Y-axis motor was moving to the XXXmm position (preparing to rotate); RunCode=0x060FFF, which specifically means that the Y motor has completed the process of moving to prepare for rotation, and an abnormal power outage occurred when executing the next step and no record was recorded.

[0086] RunCode=0x070XXX, the representative value is 0x070000~0x070FFE, which specifically means that a fault occurred when the battery was being replaced - the X-axis motor was moving to the XXXmm position (preparing to rotate); RunCode=0x070FFF, which specifically means that the X motor has completed the process of moving to the preparation for rotation, and an abnormal power outage occurred when executing the next step and no record was recorded.

[0087] RunCode = 0x0800XX, representing values ​​from 0x080000 to 0x0800FE, specifically meaning a fault occurred while the battery was being swapped and the rotating motor was moving to the XX° position (the rotating motor was pointing toward the power-consuming device); RunCode = 0x0800FF, specifically meaning the rotating motor had completed its rotation, but an abnormal power outage occurred during the next step, with no record.

[0088] RunCode = 0x090XXX, representing values ​​from 0x090000 to 0x090FFE, specifically meaning a fault occurred while the battery swap - X-axis motor was moving to the XXXmm position (the battery was ready to be placed in the power-consuming device and the pallet was retracted); RunCode = 0x090FFF, specifically meaning the X-axis motor had completed movement to prepare for pallet retraction, but an abnormal power outage occurred during the next step, with no record.

[0089] RunCode=0x0A00XX, the representative value is 0x0A0000~0x0A00FE, which specifically means that a fault occurred when the battery-changing pallet motor was moving to the XX position (preparing to retract); RunCode=0x0A00FF, which specifically means that the pallet motor has completed the retraction action, and an abnormal power outage occurred when executing the next step and there is no record.

[0090] RunCode=0x0B0XXX, the representative value is 0x0B0000~0x0B0FFE, which specifically means that a fault occurred when the battery replacement-X-axis motor was moving to the XXXmm position (preparing to push the battery to the power-consuming equipment); RunCode=0x0B0FFF, which specifically means that the X motor has completed the battery pushing process, and currently an abnormal power outage occurred when executing the next step and no record was recorded.

[0091] RunCode=0x0C00XX, the representative value is 0x0C0000~0x0C00FE, which specifically means that the battery replacement-clamping motor is moving to the XXmm position (preparing to not clamp the battery) and a fault occurs; RunCode=0x0C00FF, which specifically means that the clamping motor has been released and the entire battery replacement process has been successfully completed.

[0092] Table 1 RunCode real-time record execution action status definition table

[0093] In some embodiments, when the system is restored and started, the RunCode value is read. If the read identification code value is not 0x0C00FF, it means that a fault caused the previous stop, and it is necessary to determine the execution strategy and roll back step by step, as shown in Table 2 below:

[0094] RunCode = 0x010XXX, indicating that a fault occurred when the X motor moved from zero to position XXX. At this time, the battery is not removed, so only all motors need to be reset to zero. RunCode = 0x010FFF, step 2 is an abnormal power failure, and only all motors need to be reset to zero.

[0095] RunCode = 0x020XXX, indicating that a fault occurred when the Y motor moved from zero to position XXX. The battery is not removed at this time, so you only need to go back to the beginning of step 1 and reset all motors. RunCode = 0x020FFF, indicating that an abnormal power outage occurred in step 3, requiring only a reset of all motors.

[0096] RunCode = 0x0300XX, indicating that a fault occurred when the clamping motor moved from zero to clamp the battery position. At this time, the battery has not been removed. You only need to return to the beginning of step 1 and reset all motors. RunCode = 0x0300FF, and step 4 executes an abnormal power outage, requiring only all motors to be reset.

[0097] RunCode=0x040XXX, indicating that a fault occurs when the battery replacement-Y-axis motor is moving to the XXXmm position (the battery has been clamped and is moving out). At this time, the battery has been clamped out, and it is necessary to execute step 3 to retract. The Y motor moves to push the battery back to the compartment until the battery is in place, and then all motors are reset to zero; RunCode=0x040FFF, step 5 executes abnormal power failure, the pallet retracts to zero position, the Y motor moves to push the battery back to the compartment until the battery is in place, the motor self-checks and resets to zero (first reset the clamping motor-Y motor), and then all motors are reset to zero.

[0098] RunCode = 0x0500XX, indicating that a fault occurred while the pallet motor was moving to the XXmm position (preparing to hold the battery). The process only requires rewinding to the beginning of step 1. The pallet returns to zero position, and the Y motor moves to push the battery back into the compartment until the battery is in place. The motor self-checks and resets to zero (first reset the clamping motor - Y motor). RunCode = 0x0500FF, indicating that the Y motor in step 6 is abnormally powered off. Since the Y motor has no current position record, it must first move to the Y-axis zero position (without hitting the mechanism). The Y motor then moves to the "Y-axis position of the pallet when removing and installing the charging compartment battery." The pallet returns to zero position, pushes the battery into the compartment until the battery is in place, and the motor resets to zero.

[0099] RunCode = 0x060XXX, indicating that the Y-axis motor is moving to the XXXmm position (with the battery clamped and past the pallet extension position) and a fault occurs when preparing to rotate. Simply rewind to the beginning of step 1. The Y motor moves to the "Y-axis position for pallet movement when removing or installing the battery in the charging compartment." The pallet retracts to zero, and the battery is pushed toward the compartment until it is in place. The motor self-checks and returns to zero. RunCode = 0x060FFF, indicating that the X motor executes abnormal power failure in step 7. Since the X motor has no current position record, it must first move to the X-axis zero position (without hitting the mechanism). The X motor then moves to the "X-axis position for battery removal and installation" of the battery compartment. Then, the Y motor moves to the "Y-axis position for pallet movement when removing or installing the battery in the charging compartment." The pallet retracts to zero, and the battery is pushed toward the compartment until it is in place. The motor self-checks and returns to zero.

[0100] RunCode = 0x070XXX, indicating a fault occurred while the X-axis motor was moving to the XXXmm position (preparing the battery for insertion into the electrical device). The system then reverts to the beginning of step 1. The X-motor moves to the "X-axis position for removing and installing the battery in the charging compartment" in the battery compartment. The Y-motor then moves to the "Y-axis position for pallet movement during battery removal and installation." The pallet returns to zero, and the battery is pushed into the compartment until it is in place. The motor self-checks and resets to zero (first reset the clamping motor - Y-motor). RunCode = 0x070FFF, indicating an abnormal power outage in step 8. The rotation motor moves to zero, the X-motor moves to the "X-axis position for removing and installing the battery in the charging compartment" in the battery compartment, and the Y-motor moves to the "Y-axis position for pallet movement during battery removal and installation." The pallet returns to zero, and the battery is pushed into the compartment until it is in place. The motor self-checks and resets to zero.

[0101] RunCode = 0x0800XX, indicating a fault occurred while the rotary motor was moving to the XX° position (the rotary motor was pointing toward the electrical equipment). The user only needs to rewind to the beginning of step 1. The rotary motor moves to its zero position, the X motor moves to the battery compartment's "battery removal and installation * X-axis position", then the Y motor moves to the "pallet movement Y-axis position when removing and installing the battery". The pallet retracts to its zero position, pushes the battery into the compartment until it is in place, and the motor self-checks and resets to zero (first resets the clamping motor and the Y motor). RunCode = 0x0800FF, indicating that the X-axis motor executed abnormally and lost power in step 9. Since there is no previous record, the X axis must return to its zero point. The X-axis motor then moves to the ready-to-rotate position. The rotary motor moves to its zero position, the X motor moves to the battery compartment's "battery removal and installation * X-axis position", then the Y motor moves to the "pallet movement Y-axis position when removing and installing the battery". The pallet retracts to its zero position, pushes the battery into the compartment until it is in place, and the motor self-checks and resets to zero.

[0102] RunCode = 0x090XXX, indicating that a fault occurred when the battery swap - X-axis motor was moving to the XXXmm position (the battery is ready to be placed in the electrical equipment). Simply return to the beginning of step 1, and the X-axis motor moves to the ready-to-rotate position. The rotary motor moves to the zero position, and the X motor moves to the "disassembly and installation of charging compartment battery * X-axis position" of the battery compartment. Then, the Y motor moves to the "pallet movement Y-axis position when disassembling and installing charging compartment battery". The pallet retracts to the zero position, pushes the battery to the compartment until the battery is in place, and the motor self-checks and returns to zero. RunCode = 0x090FFF, and the pallet motor performs an abnormal power-off in step 10. The pallet is fully extended, and the X-axis motor moves to the ready-to-rotate position. The rotary motor moves to the zero position, and the X motor moves to the "disassembly and installation of charging compartment battery * X-axis position" of the battery compartment. Then, the Y motor moves to the "pallet movement Y-axis position when disassembling and installing charging compartment battery". The pallet retracts to the zero position, pushes the battery to the compartment until the battery is in place, and the motor self-checks and returns to zero.

[0103] RunCode=0x0A00XX, which means that a fault occurs when the battery replacement-pallet motor is moving to the XXmm position (preparing to receive the pallet, without supporting the battery). You only need to go back to the beginning of step 1, the pallet is fully extended, the X-axis motor moves to the ready-to-rotate position, the rotation motor moves to the zero position, the X motor moves to the "disassembly and assembly of the charging compartment battery*X-axis position" of the battery compartment, and then the Y motor moves to the "pallet movement Y-axis position when disassembling and assembly of the charging compartment battery", the pallet returns to zero position, and the battery is pushed to the compartment until the battery is in place, and the motor automatically stops. Check and return to zero; RunCode = 0x0A00FF, step 11: The X-axis motor is abnormally powered off, the X-axis motor returns to zero position, the X-axis motor moves to the "X-axis position of the pallet when removing or installing batteries in electrical equipment", the pallet is fully extended, the X-axis motor moves to the ready-to-rotate position, the rotating motor moves to the zero position, the X-motor moves to the "X-axis position of the battery when removing or installing the charging compartment", the Y-motor moves to the "Y-axis position of the pallet when removing or installing batteries in the charging compartment", the pallet returns to zero position, the battery is pushed into the compartment until it is in place, and the motor self-checks and returns to zero;

[0104] RunCode=0x0B0XXX, indicating that a fault occurred when the battery swap-X-axis motor was moving to the XXXmm position (preparing to push the battery into the electrical equipment). Simply return to the beginning of step 1, and the X-axis motor moves to the "X-axis position of the pallet when disassembling and installing the battery of the electrical equipment". The pallet is fully extended, and the X-axis motor moves to the position ready for rotation. The rotating motor moves to the zero position, and the X motor moves to the "X-axis position of the battery when disassembling and installing the charging compartment battery". The Y motor moves to the "Y-axis position of the pallet when disassembling and installing the charging compartment battery". The pallet returns to zero position, and the battery is pushed to the compartment until the battery is in place. , the motor self-checks and returns to zero; RunCode = 0x0B0FFF, step 12, the clamping motor executes an abnormal power-off, the clamping motor moves to the "battery clamping mechanism clamping battery position", the X-axis motor moves to the "pallet movement X-axis position when removing and installing batteries of electrical equipment", the pallet is fully extended, the X-axis motor moves to the ready-to-rotate position, the rotation motor moves to the zero position, the X motor moves to the "charging compartment battery removal and installation * X-axis position" of the battery compartment, and then the Y motor moves to the "pallet movement Y-axis position when removing and installing batteries in the charging compartment", the pallet returns to zero position, and the battery is pushed into the compartment until the battery is in place, and the motor self-checks and returns to zero;

[0105] S512: RunCode = 0x0C00XX, indicating that a fault has occurred in the battery swap - clamping motor moving to the XXmm position (preparing to not clamp the battery). Simply return to the beginning of step 1, the clamping motor moves to the "battery clamping mechanism clamping battery position", the X-axis motor moves to the "X-axis position of the pallet when disassembling and installing the battery of the electrical equipment", the pallet is fully extended, the X-axis motor moves to the position ready for rotation, the rotation motor moves to the zero position, the X motor moves to the "X-axis position of the battery when disassembling and installing the charging compartment", and then the Y motor moves to the "Y-axis position of the pallet when disassembling and installing the charging compartment battery", the pallet returns to zero position, and the battery is pushed toward the compartment until the battery is in place, and the motor self-checks and returns to zero; RunCode = 0x0C00FF, specifically meaning that the entire battery swap is successfully completed.

[0106] Table 2 RunCode processing mechanism corresponding table

[0107] In some embodiments, the control method further includes: recording the number of times the actuator fails; when the number reaches a preset number, performing a fault alarm and shutting down the actuator according to the identification code value.

[0108] Specifically, if the number of times the actuator fails reaches a preset number, such as the preset number can be set to 3 times, it means that the actuator has an unresolved fault, and a fault alarm and shutdown processing are performed at this time; based on the identification code information, it is determined which step the actuator is executing, that is, at which position the fault occurs, and a maintenance alarm is issued for the faulty equipment.

[0109] With reference to FIG3 , the fault detection processing steps of the embodiment of the present application are illustrated by way of example, and the specific contents are as follows.

[0110] Step S3: the motor starts running.

[0111] Step S4: Real-time detection of voltage / current / temperature circuits.

[0112] Step S5, detection is performed once every 10ms.

[0113] Step S6, whether it exceeds the threshold value, if so, execute step S7, otherwise execute step S5.

[0114] Step S7: Check whether the number of times exceeded reaches the predicted number. If so, go to step S8; otherwise, go to step S9.

[0115] Step S8: Report the fault and shut down the machine.

[0116] Step S9: Prompt the user that there is a risk of failure and ask to eliminate it in advance before use.

[0117] In some embodiments, the actuator includes a plurality of motors, and the plurality of motors operate in a sequence of preset operating steps within a task cycle.

[0118] Specifically, for example, the actuator includes multiple motors, the X-axis mechanism is driven by the X-axis motion motor, the Y-axis mechanism is driven by the Y-axis motion motor, the clamping mechanism is driven by the clamping motor, the pallet structure is driven by the pallet motor, and the rotating motor is used to connect the X-axis mechanism and the Y-axis mechanism so that the Y-axis mechanism rotates through the rotating motor.

[0119] The operating sequence of the preset operating steps of multiple motors within the task cycle can be: the X-axis motor drives the X-axis mechanism to move to the center position facing the battery in the battery compartment, the Y-axis motor drives the Y-axis mechanism to move to the position ready to clamp the battery, the clamping motor drives the clamping mechanism to clamp the battery, the Y-axis motor drives the Y-axis mechanism to clamp the battery and move it outward to the action position of the pallet mechanism, the pallet motor drives the pallet structure to extend to support the battery, the Y-axis motor drives the Y-axis mechanism to move to the rotation position, the rotating motor rotates, the X-axis motor drives the X-axis mechanism to move to the electrical equipment, the pallet motor drives the pallet structure to retract, and the X-axis motor drives the X-axis mechanism to push the battery to the electrical equipment.

[0120] In a specific embodiment, the most important work is to split the whole process of the multi-motor actuator. Referring to Figure 4, it is a subdivision process of the action of clamping the battery and placing it into the electrical equipment in this application. The function of the whole process is to clamp the battery in the charging compartment of the vehicle-mounted drone hangar and place it on the electrical equipment, involving the X-axis motion motor mechanism, Y-axis motion motor mechanism, rotating motor mechanism, clamping motor mechanism, and pallet motor mechanism. Because the charging compartment and the electrical equipment are not on the same side, a rotating motor is needed to change the direction. With reference to Figure 4 below, the process of clamping the battery and placing it into the electrical equipment by the multi-motor actuator of the vehicle-mounted drone hangar in the embodiment of this application is described, and the specific content is as follows.

[0121] Step S10, battery replacement begins.

[0122] Step S11: The X-axis motor actuator moves to the X-axis position of the battery compartment.

[0123] Step S12: The Y-axis motor actuator moves to the Y-axis position of the battery in the battery compartment.

[0124] Step S13: The clamping motor actuator moves to a position for clamping the battery.

[0125] In step S14, the Y-axis motor actuator runs a short distance in the opposite direction to facilitate the extension of the battery support plate.

[0126] Step S15: The support plate mechanism extends to support the battery.

[0127] Step S16: the Y-axis motor actuator clamps the battery and moves to a rotation position.

[0128] Step S17: the rotary motor actuator rotates 90 degrees to the end of the electrical equipment.

[0129] Step S18: The X-axis motor actuator clamps the battery and moves to the electrical equipment.

[0130] Step S19: the pallet motor actuator retracts the pallet.

[0131] Step S20: The X-axis motor actuator continues to push the battery into the electrical device.

[0132] Step S21: the clamping motor actuator is released.

[0133] Step S22: All motors return to zero position.

[0134] In the above, taking the multi-motor actuator of the vehicle-mounted drone hangar as an example, other motor actuators can also adopt the control method of the above embodiment of this application to achieve startup reset control.

[0135] Based on the control method of the actuator of the above embodiment, a second embodiment of the present application provides an actuator 100 , as shown in FIG5 , the actuator 100 includes: a processor 101 and a memory 102 .

[0136] The processor 101 and the memory 102 are in communication connection. The memory 102 stores a computer program that can be executed by the processor 101 . When the processor 101 executes the computer program, the control method of the actuator of the above embodiment is implemented.

[0137] According to the actuator 100 of the embodiment of the present application, the control method of the above embodiment is executed by the processor. When starting the reset, the current execution position of the actuator is determined according to the identification code value, and the actuator is controlled to reset according to the current execution position. This can avoid the falling of the execution object and unnecessary damage caused by direct reset, and the reset operation is more reasonable.

[0138] In some embodiments, the actuator 100 includes multiple motors 8, as shown in Figure 6. The multiple motors 8 operate in the order of preset operating steps within the task cycle. When resetting during fault recovery, the already executed steps can be rolled back in the order of preset operating steps to avoid abnormal reset caused by the unified zeroing of multiple motors, which may cause the grasped items to fall.

[0139] Specifically, the actuator 100 includes an X-axis motion motor 9, a Y-axis motion motor 10, a clamping motor 11, a support motor 12, and a rotating motor 5. As shown in FIG6 , multiple motors 8 work together to ensure the normal operation of the actuator 100.

[0140] In some embodiments, as shown in FIG. 2 , the actuator 100 includes: an X-axis mechanism 1 , a Y-axis mechanism 2 , a clamping mechanism 3 , and a support plate structure 4 .

[0141] Specifically, the X-axis mechanism 1 includes an X-axis motion motor 9, which is used to drive the X-axis mechanism 1 to move; the Y-axis mechanism 2 includes a Y-axis motion motor 10, which is used to drive the Y-axis mechanism 2 to move; the clamping mechanism 3 includes a clamping motor 11, which is used to drive the clamping mechanism 3 to clamp the battery; the support structure 4 includes a support motor 12, which is used to drive the support structure 4 to lift the battery.

[0142] In some embodiments, the actuator 100 as shown in FIG2 further includes a rotary motor 5 for adjusting the direction of the actuator. Specifically, the rotary motor 5 is used to connect the X-axis mechanism 1 and the Y-axis mechanism 2 so that the Y-axis mechanism 2 rotates via the rotary motor 5 .

[0143] The actuator 100 uses multiple motors to automatically clamp batteries from the charging compartment to the power-consuming device. During operation, the actuator's current operating status is recorded in real time using stored identification code values. In the event of an actuator failure, the current identification code value is analyzed to gradually retract the actuator, preventing all motors from resetting to zero and potentially causing the clamped battery to drop. Furthermore, the system eliminates tedious manual operations by gradually retracting all recorded motion states, achieving intelligent, automated, and rational operation.

[0144] In summary, the actuator and control method of the embodiment of the present application monitors the position and execution stage of the motor actuator in real time by recording the corresponding identification code value RunCode when a fault or staged action is completed, thereby providing a basis for data analysis after the next normal restart of the system. When the system restarts normally, it first obtains the RunCode stored in the non-volatile storage area, and then determines which stage the action is in based on the pre-defined action segmentation, and finally rolls the action back step by step to the initial position, that is, the actuator can quickly roll back and recover according to the previous fault status after restart, avoiding the direct reset operation causing the captured battery or item to fall, resulting in an abnormal reset.

[0145] The third embodiment of the present application provides a vehicle 200, as shown in Figure 7, comprising: an actuator 100 according to any embodiment of the second aspect of the present application. The structure and control method of the actuator 100 can be referred to the description of the above embodiments and will not be repeated here.

[0146] According to the vehicle 200 of the embodiment of the present application, by adopting the actuator 100 of the above embodiment, when starting and resetting, the current execution position of the actuator is determined according to the identification code value, and the actuator reset is controlled according to the current execution position. This can avoid the falling of the execution object and unnecessary damage caused by direct reset, making the reset operation more reasonable.

[0147] For example, the battery in the charging compartment is automatically clamped to the electrical equipment; during the operation of the actuator, the current operating status of the actuator is recorded in real time through the stored identification code value. When the actuator fails, the identification code value at that time is analyzed to make the actuator retract step by step to avoid all motors being reset to zero and causing the clamped battery to fall; eliminating the tedious manual operation, the system retracts all the action record states step by step to achieve intelligent, automated and rational operation.

[0148] In some embodiments, as shown in FIG7 , the vehicle 200 includes: an on-board drone hangar 210 and a battery 211 .

[0149] Among them, batteries 211 are stored in the vehicle-mounted drone hangar 210, and the actuator 100 is used to clamp the batteries 211 and place the batteries into the electrical equipment. The actuator 100 involves multiple motors 8, involving the movement of the X-axis motor, the Y-axis motor, the rotation motor, the clamping motor, and the support motor (battery support) so as to achieve the goal of fully automatically clamping the batteries in the charging compartment into the electrical equipment. If a fault occurs in the middle and there is no effective recovery mechanism, it is very likely that the clamped batteries will fall abnormally below. By adopting the control method of the above embodiment to control the actuator 100, it is possible to avoid the problem of the actuator 100 failing in the process of grabbing the battery and causing the battery to fall during resetting.

[0150] A fourth aspect of the present application provides a non-volatile computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the control method of the actuator of the above embodiment.

[0151] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0152] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner as necessary, and then stored in a computer memory.

[0153] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0154] Those skilled in the art will understand that all or part of the steps carried out in the method of the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0155] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0156] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0157] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0158] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for an actuator, characterized in that: The control method comprises: In response to the start instruction, obtaining the stored identification code value (S100); Determining the current execution position of the execution mechanism according to the identification code value (S200); and According to the execution state of the current execution position, the execution mechanism is controlled to be reset (S300).

2. The control method of the actuator according to claim 1, characterized in that: The identification code value corresponds to at least one of a position where the actuator fails and a position where the actuator completes a preset staged action.

3. The control method of the actuator according to claim 1 or 2, characterized in that: The execution status of the current execution position includes: the execution mechanism has executed a functional action or the execution mechanism has not executed a functional action.

4. The control method of the actuator according to claim 3, characterized in that: The execution state of the current execution position is that the execution mechanism has executed the functional action. According to the execution state of the current execution position, controlling the execution mechanism to reset (S300) includes: The actuator is controlled to reversely execute the steps that have been run in the task cycle according to the current execution position until each motor of the actuator returns to a reset position.

5. The control method of the actuator according to claim 4, characterized in that: Controlling the actuator to reversely execute the steps in the task cycle according to the current execution position until each motor of the actuator returns to the reset position includes: According to the sequence of preset operation steps in the task cycle, the actuator is controlled to gradually retreat from the current execution position until each motor returns to zero to a reset state.

6. The control method of the actuator according to claim 3, characterized in that: The execution state of the current execution position is that the actuator does not perform a functional action. According to the execution state of the current execution position, controlling the execution mechanism to reset (S300) includes: Each motor controlling the actuator is directly reset to zero.

7. The control method according to any one of claims 1 to 6, characterized in that: The control method further comprises: During operation, when the actuator meets the identification code value recording condition, the identification code value corresponding to the current state of the actuator is recorded and stored.

8. The control method according to claim 7, characterized in that: The actuator satisfies the identification code value recording condition including: at least one of a failure of the actuator and completion of a preset phased action of the actuator.

9. The control method according to any one of claims 1 to 8, characterized in that: The control method further comprises: Recording the number of failures of the actuator; When the number reaches a preset number, a fault alarm and shutdown processing are performed according to the identification code value.

10. An actuator (100), characterized in that: include: at least one processor (101); and A memory (102), the memory (102) being communicatively connected to the at least one processor (101); The memory (102) stores a computer program executable by the at least one processor (101), and the at least one processor (101) implements the control method of the actuator described in any one of claims 1 to 9 when executing the computer program.

11. The actuator (100) according to claim 10, characterized in that: The actuator (100) comprises a plurality of motors (8), and the plurality of motors (8) operate in a sequence of preset operating steps within a task cycle.

12. The actuator (100) according to claim 10 or 11, characterized in that: The actuator (100) comprises: X-axis mechanism (1); An X-axis motion motor (9), the X-axis motion motor (9) being used to drive the X-axis mechanism (1) to move; Y-axis mechanism (2); A Y-axis motion motor (10), wherein the Y-axis motion motor (10) is used to drive the Y-axis mechanism (2) to move; A clamping mechanism (3), the clamping mechanism (3) being used to clamp a battery (211); A clamping motor (11), the clamping motor (11) being used to drive the clamping mechanism (3) to clamp the battery (211); a support plate structure (4), the support plate structure (4) being used to support the battery (211); and A support plate motor (12), the support plate motor (12) being used to drive the support plate structure (4) to support the battery (211).

13. The actuator (100) according to any one of claims 10 to 12, characterized in that: The actuator (100) further comprises: A rotating motor (5), wherein the rotating motor (5) is used to adjust the direction of the actuator (100).

14. A vehicle (200), characterized in that: The invention comprises the actuator (100) according to any one of claims 10 to 13.

15. The vehicle (200) according to claim 14, characterized in that The vehicle (200) further comprises an on-board drone hangar (210), in which a battery (211) is stored, and the actuator (100) is used to clamp the battery (211).

16. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the control method of the actuator according to any one of claims 1 to 9 is implemented.

Images