CN112987609A - Driving control method and system for master-slave driving device - Google Patents
Driving control method and system for master-slave driving device Download PDFInfo
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Abstract
The application relates to a driving control method, a driving control system, computer equipment and a storage medium of the master-slave driving device, wherein the method comprises the following steps: receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device; when a reverse driving request is received, reading a preset elimination gap step number; controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap; and controlling the positive motion of the driving part to preset the step number of eliminating gaps. In the whole process, the forward step number is driven during forward driving, the reverse step number + the preset clearance elimination step number is driven during reverse driving, then the forward driving is continued, the preset clearance elimination step number is eliminated, and the brand new forward and reverse driving control process is adopted, so that the influence of the changing clearance in the back and forth movement process of the main driving device and the slave driving device on the driving precision can be accurately eliminated.
Description
Technical Field
The present application relates to the field of high-precision control technologies, and in particular, to a master-slave driving apparatus drive control method, system, computer device, and storage medium.
Background
The master-slave driving device comprises a driving part and a driven part, wherein the driving part drives the driven part to move. In the actual use process, a gap may exist between the driving part and the driven part due to conditions such as manufacturing process, use abrasion and the like, and the gap causes that the moving distance of the driving part is not equal to the moving distance of the driven part, so that a driving error is generated.
Take a master-slave driving device in a microscope as an example. The automatic image acquisition of the microscope needs to be accurately focused, and the focusing accuracy directly influences the image acquisition quality. Taking a blood smear sample as an example, the preparation of the blood smear sample is to push blood into a thick-to-thin sample layer to be attached to a slide, different types of blood cells exist at positions with different thicknesses, and the blood smear sample has clinical diagnosis significance, and clear blood cell images of most areas need to be collected through automatic microscopic examination. In the blood cell morphology detection, a 10-time objective lens is commonly used for positioning the position of a white blood cell, then a 100-time oil scope is rotated to capture a white blood cell characteristic image, the depth of field of the 100-time oil scope is small, the thickness of a blood film on a glass slide is uneven, and multi-layer images need to be acquired when clear images under multiple fields of view are acquired, so that a microscope lens needs to move back and forth to acquire the images under different fields of view, and the clearance of a master driving device and a slave driving device in the back and forth movement process can cause great influence on.
In view of the above-mentioned drawbacks, it is conventional to directly compensate the backlash error by a fixed compensation value X, but the backlash error of the mechanical structure is not fixed and varies with wear and aging, and there is a drawback in that the backlash error is compensated by using a fixed value as a compensation value, which cannot accurately eliminate the varying backlash in the master-slave drive.
Disclosure of Invention
In view of the above, it is necessary to provide a master-slave driving apparatus drive control method, system, computer device, and storage medium capable of accurately eliminating a varying gap in view of the above technical problems.
A master-slave driving device driving control method comprises the following steps:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap;
and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
In one embodiment, the method for driving and controlling a master-slave driving apparatus further includes:
acquiring factory parameters of a master-slave driving device;
acquiring the maximum clearance between a master component and a slave component in a master-slave driving device according to factory parameters;
the distance is set to be not less than the preset gap elimination step number of the maximum gap.
In one embodiment, obtaining the maximum gap between the master and the slave in the master and slave driving devices according to factory parameters includes:
collecting factory parameters of the same type of master-slave driving devices to obtain a factory parameter set;
selecting the maximum value of the maximum gap between the master component and the slave component in a factory parameter set;
the step number of the preset elimination gap with the distance not less than the maximum gap comprises the following steps:
and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
In one embodiment, receiving the forward driving request, and controlling the forward steps of the forward motion of the main element in the main-slave driving device comprises:
receiving a forward driving request;
extracting forward steps carried in the forward driving request;
and controlling the forward step number of forward motion of a driving part in the master-slave driving device.
In one embodiment, receiving the forward driving request, and controlling the forward steps of the forward motion of the main element in the main-slave driving device comprises:
receiving a forward driving request, and acquiring a preset single fixed movement step number;
controlling the positive motion of a driving part in a master-slave driving device to preset the step number of single fixed motion.
In one embodiment, the controlling the reverse step number of the reverse motion of the driving member and the step number of the preset elimination gap comprises:
controlling the driving part to move reversely to preset the step number of single fixed movement and the step number of elimination gap.
In one embodiment, the number of forward steps is equal to the number of reverse steps.
A master-slave drive device drive control system, the device comprising:
the first driving module is used for receiving the forward driving request and controlling the forward steps of forward movement of a driving part in the main driving device and the driven device;
the data reading module is used for reading the preset elimination gap step number when receiving the reverse driving request;
the second driving module is used for controlling the reverse step number of the reverse motion of the driving part and presetting the step number of the elimination gap;
and the third driving module is used for controlling the forward motion of the driving part to preset clearance elimination steps.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap;
and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap;
and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
The driving control method, the driving control system, the computer equipment and the storage medium of the master-slave driving device receive the forward driving request and control the forward steps of the forward movement of the driving part in the master-slave driving device; when a reverse driving request is received, reading a preset elimination gap step number; controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap; and controlling the positive motion of the driving part to preset the step number of eliminating gaps. In the whole process, the forward step number is driven during forward driving, the reverse step number + the preset clearance elimination step number is driven during reverse driving, then the forward driving is continued, the preset clearance elimination step number is eliminated, and the brand new forward and reverse driving control process is adopted, so that the influence of the changing clearance in the back and forth movement process of the main driving device and the slave driving device on the driving precision can be accurately eliminated.
Drawings
FIG. 1 is a schematic diagram of the motion of a conventional master-slave driving device;
FIG. 2 is a schematic diagram of the driving control method of the master-slave driving device according to the present application;
FIG. 3 is a diagram illustrating an exemplary embodiment of a driving control method for a master-slave driving apparatus;
FIG. 4 is a flow chart illustrating a driving control method of the master-slave driving apparatus according to an embodiment;
FIG. 5 is a flow chart of a driving control method of a master-slave driving apparatus according to another embodiment;
FIG. 6 is a block diagram showing a driving control system of a master-slave driving apparatus according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to further explain the application scenario, technical solution and effect of the driving control method of the master-slave driving device in the present application in detail, the following first introduces the driving process of the master-slave driving element in the conventional technology.
As shown in fig. 1, the conventional master-slave driving device includes a driving member and a driven member, and in practical applications, the driving member drives the driven member to move, and due to the insufficient tightness of the occlusion, a gap exists. Assuming that the forward motion of the motor is taken as an initial state, the meshing state of the mechanical part is shown on the left side in fig. 1, and the forward motion of the driving part for 100 steps drives the driven part for 100 steps; when the motor turns to reverse motion, the driving part moves in reverse 100 steps, and the driven part only moves 100-X steps, so that motion errors exist. In the traditional technology, errors are generally eliminated by adopting a clearance value compensation mode, a driving part moves in a reverse direction for 100+ X steps, and a driven part is driven to move for (100+ X) -X steps, namely, the errors are eliminated; the same applies to the compensation gap value when the motion is converted into the positive motion. However, there is a problem that X changes as a gap value, and it is not possible to know in time whether the current gap value changes.
In the driving control method of the master-slave driving device, a brand new preset gap elimination step number a is introduced, and when the driving control method of the master-slave driving device is executed, as shown in fig. 2, no operation is taken when the driving control method of the master-slave driving device moves forward by 100 steps. When the device moves reversely, the device moves reversely by 100+ a steps, because of the gap caused by steering, the number of the steps of the actual movement is (100+ a) -X, a is a determined value and X is unknown; and the step a is moved forwards again, the actual moving steps are a-X steps due to the turning of the steering wheel, and the actual distance between the two movements is ((100+ a) -X) - (a-X) ═ 100 steps, so that accurate positioning is realized even if X is in dynamic change.
The driving control method of the master-slave driving device provided by the application can be applied to the application environment shown in fig. 3. The controller 102 is connected to the master-slave driving device 104, the controller 104 moves a driving element in the master-slave driving device 104, and the driving element drives a driven element to move. The controller receives the forward driving request and drives the driving part in the master-slave driving device 104 to move forward steps; when a reverse driving request is received, reading a preset elimination gap step number; controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap; and controlling the positive motion of the driving part to preset the step number of eliminating gaps. The controller 102 may be a CPU, an upper computer, or the like; the master-slave drive 104 may be a master-slave drive in a microscope.
In one embodiment, as shown in fig. 4, a driving control method of a master-slave driving apparatus is provided, which is described by taking the method as an example applied to the controller 102 in fig. 3, and includes the following steps:
s200: and receiving a forward driving request, and controlling the forward steps of forward movement of the driving part in the master-slave driving device.
The controller receives a forward driving request which can be sent by an operator, receives and responds to the operator request, and controls the forward movement forward steps of the driving part in the master-slave driving device. The forward direction herein does not specifically refer to which direction of the left and right movements is, and is used only for distinguishing and corresponding to the reverse direction described below. Generally, the rightward motion is the forward direction, and the leftward motion is the reverse direction (see fig. 1). Taking a master-slave driving device in a microscope as an example, a driving controller in the microscope receives an operation request of an operator, the master-slave driving device needs to move forward (to the right) at this time to acquire images in a next visual field range in the forward direction, and the controller in the microscope responds to the forward driving request to control forward steps of forward movement of a driving part in the master-slave driving device. The forward step number may be carried in the forward driving request, for example, if the operator wishes to move forward for 100 steps, the forward driving request carries data of the forward step number of 100; in addition, the forward step number may also be a preset fixed step number corresponding to a single movement, that is, a fixed step number is moved every movement to realize an orderly and equidistant movement of the whole area, or taking a microscope as an example, the fixed step number may be adopted to ensure that the whole image acquisition area is scanned one by one at equal intervals to obtain a corresponding image, the fixed step number may be set according to actual needs, for example, may be set to 100 steps, that is, when the microscope controller receives a forward driving request every time, the main part in the main-slave driving device is controlled to move 100 steps forward.
S400: when a reverse drive request is received, a preset number of elimination gap steps is read.
When the master-slave driving device needs to move reversely at a certain moment, the controller receives a reverse driving request and reads the preset elimination gap step number a. The preset elimination gap step number a is a preset step number, and can be preset and stored in a buffer space of the controller according to the needs of actual conditions, and when a reverse driving request is received, the data is directly read from the buffer space.
S600: controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap.
The controller controls the reverse step number of the reverse motion of the driving part and the step number of the preset elimination gap. Specifically, the reverse step count may be extracted from the above-described reverse drive request. Which again may be a preset fixed number of steps. In the process of the reverse movement, the controller not only drives the driving part to move reversely by the reverse steps, but also continues to drive the driving part to move by the preset clearance elimination steps, and the corresponding actual movement distance of the driven part is (100+ a) -X.
S800: and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
The controller controls the positive motion of the driving part to preset elimination gap steps. Correspondingly, in the master-slave driving device, the actual movement distance of the driven part is (100+ a) -X- (a-X) which is 100 steps. Namely, the variable clearance between the main component and the auxiliary component in the main-auxiliary driving device is eliminated, and the accurate driving control is realized.
The driving control method of the master-slave driving device receives the forward driving request and controls the forward steps of the forward movement of the master part in the master-slave driving device; when a reverse driving request is received, reading a preset elimination gap step number; controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap; and controlling the positive motion of the driving part to preset the step number of eliminating gaps. In the whole process, the forward step number is driven during forward driving, the reverse step number + the preset clearance elimination step number is driven during reverse driving, then the forward driving is continued, the preset clearance elimination step number is eliminated, and the brand new forward and reverse driving control process is adopted, so that the influence of the changing clearance in the back and forth movement process of the main driving device and the slave driving device on the driving precision can be accurately eliminated.
In one embodiment, the method for driving and controlling a master-slave driving apparatus further includes:
acquiring factory parameters of a master-slave driving device; acquiring the maximum clearance between a master component and a slave component in a master-slave driving device according to factory parameters; the distance is set to be not less than the preset gap elimination step number of the maximum gap.
The factory parameters refer to corresponding factory performance parameters of the master-slave driving device when the master-slave driving device is in factory, and the maximum clearance between the master-slave parts is obtained from the factory parameters. For example, data of "10 ten thousand movements/not more than 1 mm gap" is extracted from factory parameters of a certain master-slave driving device, and then the maximum gap is 1 mm. The preset elimination gap step number is set to be not less than the step number corresponding to the maximum gap value, for example, in the above embodiment, the distance corresponding to the preset elimination gap step number is not less than 1 mm, and may be 1 mm, 1.5 mm, 2 mm, and the like. In practical application, the maximum clearances of the master and slave driving devices of the same type may have a certain difference, and in order to ensure that the preset elimination clearance step number can be widely applied, the maximum clearance maximum of the master and slave driving devices of the same type is selected as the basis of the preset elimination clearance step number, and the preset elimination clearance step number with the distance not less than the maximum clearance maximum value is set.
In one embodiment, obtaining the maximum gap between the master and the slave in the master and slave driving devices according to factory parameters includes:
collecting factory parameters of the same type of master-slave driving devices to obtain a factory parameter set; selecting the maximum value of the maximum gap between the master component and the slave component in a factory parameter set; the step number of the preset elimination gap with the distance not less than the maximum gap comprises the following steps: and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
Continue to take the example of a microscope. Firstly, factory parameters of the master-slave driving devices in different microscopes are collected to obtain a factory parameter set, the maximum clearance of the master-slave driving devices in each microscope is obtained from the factory parameter set, if the maximum clearance is 10 ten thousand times/1 millimeter, 10 ten thousand times/1.5 millimeters and 10 ten thousand times/2 millimeters respectively, the maximum clearance is selected to be 2 millimeters, and then the preset clearance elimination step number with the distance not less than 2 millimeters is set.
As shown in fig. 5, in one embodiment, S200 includes:
s220: receiving a forward driving request;
s240: extracting forward steps carried in the forward driving request;
s260: and controlling the forward step number of forward motion of a driving part in the master-slave driving device.
In practical application, an operator sends a forward driving request by touching a virtual key/a physical key or rotating a knob, and the like, in the process, the operator can input the forward step number of the driving as 100, and the controller receives the forward driving request, extracts the forward step number 100 carried in the forward driving request and controls the forward motion 100 of the driving part in the master-slave driving device.
In one embodiment, receiving the forward driving request, and controlling the forward steps of the forward motion of the main element in the main-slave driving device comprises:
receiving a forward driving request, and acquiring a preset single fixed movement step number; controlling the positive motion of a driving part in a master-slave driving device to preset the step number of single fixed motion.
The preset number of steps of the single fixed movement is the preset number of corresponding fixed steps in each movement, and can be set according to the needs of actual conditions, such as 10, 50, 100 and the like. Taking application to a microscope as an example, the microscope needs to acquire images of the whole image acquisition area, and the field range corresponding to single image acquisition is limited, so that a master-slave driving device in the microscope is needed to drive a microscope lens to move in the image acquisition area, in the process, an operator sends an acquisition starting instruction, a controller receives a forward driving request, obtains the preset single fixed movement step number 100 corresponding to each movement acquisition, and controls the forward movement 100 of a driving part.
In one embodiment, the controlling the reverse step number of the reverse motion of the driving member and the step number of the preset elimination gap comprises: controlling the driving part to move reversely to preset the step number of single fixed movement and the step number of elimination gap.
In the same way and for the same reason, during the reverse movement, the controller can control the driving member in the master-slave driving device to move reversely for a preset single fixed movement step number. In addition, in order to eliminate the gap in the master-slave driving device, the master-slave driving device is further moved by a preset gap elimination step number. When the master-slave driving device is applied to a scene scanned back and forth in a certain range, the number of forward motion steps is equal to that of reverse motion steps. For example, in a microscope, a master-slave driving device drives a lens to collect an image of one line in an image collection area from left to right, then moves to the next line, scans the image of the next line from right to left, and finally collects the image in the whole color image area if the operation is repeated.
It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
As shown in fig. 6, the present application also provides a master-slave driving apparatus drive control system, the apparatus including:
the first driving module 200 is configured to receive a forward driving request and control forward steps of forward motion of a main part in a main-slave driving device;
a data reading module 400, configured to read a preset elimination gap step number when a reverse driving request is received;
a second driving module 600 for controlling the reverse step number of the reverse motion of the driving member and the step number of the preset elimination gap;
and a third driving module 800, configured to control the driving element to move forward by a preset gap elimination step number.
The driving control system of the master-slave driving device receives the forward driving request and controls the forward steps of the forward movement of the master part in the master-slave driving device; when a reverse driving request is received, reading a preset elimination gap step number; controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap; and controlling the positive motion of the driving part to preset the step number of eliminating gaps. In the whole process, the forward step number is driven during forward driving, the reverse step number + the preset clearance elimination step number is driven during reverse driving, then the forward driving is continued, the preset clearance elimination step number is eliminated, and the brand new forward and reverse driving control process is adopted, so that the influence of the changing clearance in the back and forth movement process of the main driving device and the slave driving device on the driving precision can be accurately eliminated.
In one embodiment, the driving control system of the master-slave driving device further includes a setting module, configured to obtain factory parameters of the master-slave driving device; acquiring the maximum clearance between a master component and a slave component in a master-slave driving device according to factory parameters; the distance is set to be not less than the preset gap elimination step number of the maximum gap.
In one embodiment, the setting module is further configured to group delivery parameters of the same type of master-slave driving devices to obtain a delivery parameter set; selecting the maximum value of the maximum gap between the master component and the slave component in a factory parameter set; and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
In one embodiment, the first driver module 200 is further configured to receive a forward driving request; extracting forward steps carried in the forward driving request; and controlling the forward step number of forward motion of a driving part in the master-slave driving device.
In one embodiment, the first driving module 200 is further configured to receive a forward driving request, and obtain a preset single fixed movement step number; controlling the positive motion of a driving part in a master-slave driving device to preset the step number of single fixed motion.
In one embodiment, the second driving module 600 is further configured to control the driving member to move reversely for a predetermined number of steps of single fixed movement and a predetermined number of steps of elimination gap.
In one embodiment, the number of forward steps is equal to the number of reverse steps.
For specific limitations of the master-slave driving device driving control system, reference may be made to the above limitations of the master-slave driving device driving control method, which are not described herein again. All or part of each module in the driving control system of the master-slave driving device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing preset elimination gap step number data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a master-slave drive control method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap;
and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring factory parameters of a master-slave driving device; acquiring the maximum clearance between a master component and a slave component in a master-slave driving device according to factory parameters; the distance is set to be not less than the preset gap elimination step number of the maximum gap.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
collecting factory parameters of the same type of master-slave driving devices to obtain a factory parameter set; selecting the maximum value of the maximum gap between the master component and the slave component in a factory parameter set; and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
receiving a forward driving request; extracting forward steps carried in the forward driving request; and controlling the forward step number of forward motion of a driving part in the master-slave driving device.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
receiving a forward driving request, and acquiring a preset single fixed movement step number; controlling the positive motion of a driving part in a master-slave driving device to preset the step number of single fixed motion.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
controlling the driving part to move reversely to preset the step number of single fixed movement and the step number of elimination gap.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in a main driving device and a driven device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and presetting the step number of the elimination gap;
and controlling the positive motion of the driving part to preset the step number of eliminating gaps.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring factory parameters of a master-slave driving device; acquiring the maximum clearance between a master component and a slave component in a master-slave driving device according to factory parameters; the distance is set to be not less than the preset gap elimination step number of the maximum gap.
In one embodiment, the computer program when executed by the processor further performs the steps of:
collecting factory parameters of the same type of master-slave driving devices to obtain a factory parameter set; selecting the maximum value of the maximum gap between the master component and the slave component in a factory parameter set; and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving a forward driving request; extracting forward steps carried in the forward driving request; and controlling the forward step number of forward motion of a driving part in the master-slave driving device.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving a forward driving request, and acquiring a preset single fixed movement step number; controlling the positive motion of a driving part in a master-slave driving device to preset the step number of single fixed motion.
In one embodiment, the computer program when executed by the processor further performs the steps of:
controlling the driving part to move reversely to preset the step number of single fixed movement and the step number of elimination gap.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A master-slave drive control method, the method comprising:
receiving a forward driving request, and controlling the forward step number of forward movement of a driving part in the master-slave driving device;
when a reverse driving request is received, reading a preset elimination gap step number;
controlling the reverse step number of the reverse movement of the driving part and the step number of the preset elimination gap;
and controlling the driving piece to move forwards by the preset clearance elimination step number.
2. The method of claim 1, further comprising:
acquiring factory parameters of a master-slave driving device;
acquiring the maximum clearance between a master component and a slave component in the master-slave driving device according to the factory parameters;
and setting the preset clearance elimination step number of which the distance is not less than the maximum clearance.
3. The method according to claim 2, wherein the obtaining the maximum gap between the master and the slave components in the master and slave driving device according to the factory parameters comprises:
collecting factory parameters of the same type of master-slave driving devices to obtain a factory parameter set;
selecting the maximum value of the maximum gap between the master component and the slave component in the factory parameter set;
the step number of the preset elimination gap with the setting distance not less than the maximum gap comprises the following steps:
and setting the preset clearance elimination step number with the distance not less than the maximum clearance value.
4. The method of claim 1, wherein receiving a forward drive request, controlling the number of forward steps of forward motion of the primary member in the primary and secondary drive devices comprises:
receiving a forward driving request;
extracting the forward steps carried in the forward driving request;
and controlling a driving part in the master-slave driving device to move forwards by the forward steps.
5. The method of claim 1, wherein receiving a forward drive request, controlling the number of forward steps of forward motion of the primary member in the primary and secondary drive devices comprises:
receiving a forward driving request, and acquiring a preset single fixed movement step number;
and controlling a driving part in the master-slave driving device to move forwards by the preset single fixed movement step number.
6. The method of claim 5, wherein the controlling the number of reverse steps of the reverse motion of the driving member and the number of preset backlash elimination steps comprises:
and controlling the driving part to move reversely, wherein the preset single fixed movement step number and the preset clearance elimination step number are preset.
7. The method of claim 1, wherein the number of forward steps is equal to the number of reverse steps.
8. A master-slave drive device drive control system, the device comprising:
the first driving module is used for receiving a forward driving request and controlling the forward steps of forward movement of a driving part in the master-slave driving device;
the data reading module is used for reading the preset elimination gap step number when receiving the reverse driving request;
the second driving module is used for controlling the reverse movement reverse step number of the driving part and the preset clearance elimination step number;
and the third driving module is used for controlling the driving part to move forwards and presetting the clearance elimination step number.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN202110162053.3A CN112987609A (en) | 2021-02-05 | 2021-02-05 | Driving control method and system for master-slave driving device |
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