WO2020228069A1

WO2020228069A1 - Suspension control method, controller, support apparatus and readable storage medium

Info

Publication number: WO2020228069A1
Application number: PCT/CN2019/089828
Authority: WO
Inventors: 陈瑞
Original assignee: 深圳傲科海科技有限公司
Priority date: 2019-05-15
Filing date: 2019-06-03
Publication date: 2020-11-19
Also published as: CN110067810A; CN110067810B

Abstract

Disclosed are a suspension control method, a controller (120), a support apparatus and a readable storage medium. The method comprises: acquiring a current posture parameter of a suspension target and a target posture parameter corresponding to the suspension target, wherein the suspension target comprises a plurality of first permanent magnets (211) and second permanent magnets (212) having opposite polarities and arranged in an array; determining a difference quantity between the current posture parameter and the target posture parameter; and controlling, according to the difference quantity, a plurality of electromagnets (111) in a base (1) to operate, wherein the plurality of electromagnets (111) are arranged in an array.

Description

Suspension control method, controller, supporting device and readable storage medium To

Technical field

This application relates to the technical field of support equipment, and in particular to a suspension control method, a controller, a support device and a readable storage medium.

Background technique

At present, the supporting device generally adopts a contact-type mechanical structure, and the supported object is installed on the supporting device, and the stability of the supported object is realized through the cooperative connection relationship of the mechanism. Most of the supporting equipment is equipped with a servo motor as a driving component to realize the position change of the supported object, for example, the pan/tilt of a camera.

However, when the supported object needs to be changed at any position in the three-dimensional space, the position of each axis in the space needs at least one corresponding servo motor to control, which consumes a lot of energy, and the servo motor is relatively large and heavy, which will cause support The size and weight of the equipment are too large to be easy to use.

The above content is only used to assist the understanding of the technical solution of this application, and does not mean that the above content is recognized as prior art.

Summary of the invention

The main purpose of the present application is to provide a suspension control method, which aims to stabilize the stabilized object in a desired position state without mechanical connection, improve the convenience of supporting equipment application, and reduce the energy consumption of the supporting equipment.

In order to achieve the above objective, the present application provides a levitation control method. The levitation control method includes:

Acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Determining the amount of difference between the current attitude parameter and the target attitude parameter; and,

The operation of a plurality of electromagnets in the base is controlled according to the difference amount, and the plurality of electromagnets are arranged in an array.

Optionally, the step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount includes:

Calculating the vector sum of the adjustment force of the base on the floating target according to the difference;

Determining the magnitude of the adjustment force and the direction of the adjustment force according to the vector sum of the adjustment force;

Determine the magnetic field direction of each electromagnet according to the direction of the adjustment force, and determine the magnetic field strength of each electromagnet according to the magnitude of the adjustment force; and,

The target current direction of each electromagnet is determined according to the determined magnetic field direction, and the target current magnitude of each electromagnet is determined according to the determined magnetic field strength.

Optionally, the step of controlling the operation of multiple electromagnets according to the difference amount includes:

Determine the target current magnitude and target current direction of each electromagnet according to the difference amount; and,

According to the determined target current magnitude and target current direction, a corresponding current is input to each electromagnet to control the magnetic field generated by each electromagnet.

Optionally, before the step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount, the method further includes:

Detecting relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base; and,

The step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount includes:

Determine the target current magnitude and target current direction of each electromagnet according to the relative position information and the difference amount.

Optionally, the step of determining the target current magnitude and target current direction of each electromagnet according to the position information and the difference amount includes:

Determine the target electromagnet of the plurality of electromagnets according to the position information; and,

Determine the target current magnitude and target current direction of the target electromagnet according to the difference amount.

Optionally, the step of detecting relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base includes:

Detecting the induced electromotive force in each of the electromagnets; and,

The relative position information is determined according to the acquired induced electromotive force.

Optionally, the floating target is provided with an identifier, and the step of detecting relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base includes:

Acquiring an image of the floating target;

Identifying the marker in the image;

Determine the first position information of the marker relative to the base according to the image coordinates of the marker;

The relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base is determined according to the first position information.

Optionally, the identifier is an object with a preset color or an object with a preset texture.

Optionally, the current attitude parameters include three-axis acceleration, three-axis speed, and three-axis deflection angle of the suspended target.

Optionally, two adjacent electromagnets input currents in opposite directions at the same time.

In addition, in order to achieve the above-mentioned object, the present application also provides a controller. The controller includes a memory, a processor, and a levitation control program stored on the memory and running on the processor. The following steps of the floating control method are realized when the control program is executed by the processor:

In addition, in order to achieve the above object, the present application also provides a supporting device, the supporting device including:

A base, the base includes a plurality of electromagnets and a controller, the plurality of electromagnets are arranged in an array and form a first curved surface, and the controller is connected to each of the electromagnets;

A levitation support, as a levitation target, the levitation support is spaced apart from and opposite to the base, the levitation support includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties, the first permanent magnet Arranged alternately with the second permanent magnet and form a second curved surface;

Wherein, the controller includes: a memory, a processor, and a levitation control program stored on the memory and capable of running on the processor, and the levitation control program is executed by the processor to implement the following levitation control method A step of:

Optionally, the opening of the first curved surface and the opening of the second curved surface are arranged in the same direction, and the opening of the first curved surface faces the suspension support.

Optionally, the levitation support further includes a three-axis sensor, the three-axis sensor is in communication connection with the controller, and the three-axis sensor is configured to detect the posture parameter of the levitation support.

Optionally, the base further includes a first wireless communication module connected to the controller;

The suspension support further includes a second wireless communication module, the first wireless communication module is communicatively connected with the second wireless communication module, and the second wireless communication module is connected with the three-axis sensor.

Optionally, the base further includes a transmitting coil and a first power module connected to an external power source, and the power module is electrically connected to the transmitting coil;

The levitation support further includes a receiving coil and a second power module that are magnetically coupled to the transmitting coil, and the three-axis sensor, the second wireless communication module, and the controller are all electrically connected to the second power module .

Optionally, the base further includes a first housing, the controller is installed in the first housing, and each electromagnet is installed on the outer wall of the first housing facing the suspension support;

The suspension support further includes a second housing, and the first permanent magnet and the second permanent magnet are mounted on the outer wall of the second housing facing the base.

In addition, in order to achieve the above-mentioned object, the present application also provides a readable storage medium having a levitation control program stored on the readable storage medium, and when the levitation control program is executed by a processor, the following steps of the levitation control method are implemented:

An embodiment of the present application proposes a levitation control method. The method acquires the current attitude parameters of the levitation target. The levitation target is provided with a plurality of permanent magnets arranged in a curved array, and acquires the target attitude corresponding to the levitation target Parameters, compare the current attitude parameters and target attitude parameters to determine the difference between the two, and then control the operation of the electromagnets arranged in multiple arrays in the base according to the difference, so as to realize the magnetic field effect of the base on the suspended target on the suspended target Levitation control makes the floating target stand still or move in three-dimensional space with the target posture. On the one hand, this control method can ensure the accuracy of the current posture of the floating target, and on the other hand, there is no need to set multiple servo motors and their corresponding required mechanical connection structures. , The posture of the suspended target in the three-dimensional space can be stabilized and controlled. By suspending the object that needs to be supported, the volume and weight of the supporting device can be effectively reduced, so that the supporting device can be adapted to diversified applications The scenario improves the convenience of supporting equipment application, and the drive current of the electromagnetic component is smaller than that of the servo motor, which can effectively reduce the energy consumption of the supporting equipment.

Description of the drawings

FIG. 1 is a schematic diagram of a cross-sectional structure of a supporting device involved in the embodiment of the present application; FIG.

Fig. 2 is a schematic diagram of the hardware structure of the controller in Fig. 1;

3 is a schematic flowchart of the first embodiment of the suspension control method of this application;

FIG. 4 is a schematic diagram of the detailed flow of step S30 in FIG. 3;

5 is a schematic flowchart of a second embodiment of the suspension control method of this application;

FIG. 6 is a schematic diagram of the detailed flow of step S31 in FIG. 5;

FIG. 7 is a schematic flowchart of the third embodiment of the suspension control method of this application;

FIG. 8 is a schematic flowchart of a fourth embodiment of the suspension control method of this application.

Attached icon number description:

Label	name	Label	name
1	Base	210	Permanent magnet components
2	Suspension support	211	First permanent magnet
111	Electromagnet	212	Second permanent magnet
110	Electromagnetic components	220	Three-axis sensor
120	Controller	230	Second wireless communication module
130	The first wireless communication module	240	Receiving coil
140	Transmit coil	250	Second shell
150	First shell	260	Marker
170	The first power module	270	Second power module

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the application, and are not used to limit the application.

The main solution of the embodiment of the present application is to obtain the current attitude parameters of the suspended target and the target attitude parameters corresponding to the suspended target; the suspended target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties. The first permanent magnets and the second permanent magnets are alternately arranged in an array; determine the difference between the current attitude parameter and the target attitude parameter; control the operation of multiple electromagnets in the base according to the difference; The electromagnets are arranged in an array.

As the prior art uses servo motors to control the position of an object in three-dimensional space, corresponding motors and mechanical transmission structures between each motor and the object need to be set in different directions, which consumes more energy and will support the volume and weight of the equipment Too big and not easy to use.

The present application provides the above-mentioned solution to realize that the stabilized object can be stabilized in a required position state without mechanical connection, so as to improve the convenience of supporting equipment application and reduce the energy consumption of the supporting equipment.

This application proposes a supporting device. The supporting device can be used to support any objects, such as cameras, plates, etc.

In the embodiment of the present application, referring to FIG. 1, the device includes a base 1 and a suspension support 2. The base 1 includes an electromagnetic assembly 110 arranged in a curved shape, and the suspension support 2 includes a permanent magnet assembly 210 arranged in a curved shape, and the electromagnetic assembly 110 is magnetically connected to the permanent magnet assembly 210.

Specifically, the electromagnetic assembly 110 in the base 1 generates a magnetic field after being energized, and the permanent magnet assembly 210 in the suspension support 2 is suspended under the action of the magnetic field. Because the electromagnetic assembly 110 and the permanent magnet assembly 210 in the suspension support 2 are both present It is arranged in a curved shape. The direction of the magnetic field generated by the curved electromagnetic component 110 in the base 1 is no longer limited to one direction, but can generate magnetic fields in multiple directions. The curved permanent magnet component 210 in the suspension support 2 corresponds to It can be suspended and stabilized in three-dimensional space in different postures after receiving the action of magnetic fields in different directions. The object to be supported is mounted on the suspension support 2, and the supporting device can be used to support the object to be supported at positions in multiple directions in the three-dimensional space.

Specifically, the electromagnetic assembly 110 includes a plurality of electromagnets 111, and the plurality of electromagnets 111 are arranged in an array and form a first curved surface; the permanent magnet assembly 210 includes a plurality of first permanent magnets 211 and The second permanent magnet 212, the first permanent magnet 211 and the second permanent magnet 212 are alternately arranged and form a second curved surface. Among them, the magnetic properties (ie, the direction of the magnetic field) of any two adjacent electromagnets 111 are opposite. By controlling the change in the direction of the magnetic field and the change in the intensity of the magnetic field generated by each electromagnet 111, the changed magnetic field acts on the first permanent magnet 211 and the second permanent magnet 212 with opposite magnetic properties, so that the electromagnetic component 110 and the permanent magnet component 210 are generated Alternate adsorption and repulsion can make the supported object stabilize in three-dimensional space in a variety of postures.

Further, referring to FIG. 1, the opening of the first curved surface and the opening of the second curved surface are arranged in the same direction, and the opening of the first curved surface faces the suspension support 2. With this arrangement, each electromagnet 111 in the base 1 can generate a magnetic field on the suspension support 2, so that the base 1 can achieve multi-directional and multi-angle full suspension control on the suspension support 2 to improve the suspension support Piece 2 The stability of the posture.

Among them, the range of the first curved surface and the second curved surface can be set according to actual needs. For example, the first curved surface and the second curved surface can be set to be spherical or hemispherical at the same time. When the first curved surface and the second curved surface are set as spherical surfaces, the supported object can be stabilized in any posture in any direction in the three-dimensional space.

In this embodiment, by using the mutual magnetic field between the electromagnet 111 in the base 1 that is curved and the permanent magnet in the suspension support 2, the suspension support 2 can be driven by the base 1 in three dimensions. Static or moving in any posture in the space. When the supported object is set on the suspended support 2, the supporting device can support the object through levitation, so that the object can be stationary or move in any posture in the three-dimensional space. In this structure, there is no need to set multiple servo motors and their corresponding required mechanical connection structures, thereby effectively reducing the volume and weight of the supporting equipment, making the supporting equipment suitable for diversified application scenarios, and improving the convenience of supporting equipment applications The driving current of the electromagnetic assembly 110 is smaller than that of the servo motor, which can effectively reduce the energy consumption of the supporting equipment.

The base 1 also includes a controller 120 for adjusting the intensity and/or direction of current input to the electromagnetic assembly 110. The controller 120 is electrically connected to the electromagnetic assembly 110. In a specific current component, two adjacent electromagnets 111 input currents in opposite current directions at the same time. The controller 120 can input currents of different current intensities and/or current directions to the electromagnetic component 110 according to the posture requirements of the supported object, so as to meet the diversified posture requirements of the supported object.

Further, the suspension support 2 further includes a three-axis sensor 220 for detecting the posture information of the suspension support 2, and the three-axis sensor 220 is communicatively connected with the controller 120. The controller 120 can obtain the attitude parameters detected by the three-axis sensor 220 (such as the three-axis acceleration, the three-axis speed, and the inclination angle of the three-axis relative to the ground) of the suspension support 2, and adjust the input to the electromagnetic assembly 110 according to the obtained attitude parameters. In order to improve the accuracy of the control of the electromagnetic assembly 110 by the controller 120, the object supported by the suspension support 2 can maintain its desired posture.

Further, the base 1 further includes a first wireless communication module 130 connected to the controller 120; the suspension support 2 further includes a second wireless communication module 230, and the first wireless communication module 130 is connected to The second wireless communication module 230 is in communication connection, and the second wireless communication module 230 is connected to the three-axis sensor 220. The first wireless communication module 130 and the second wireless communication module 230 implement wireless communication between the three-axis sensor 220 and the controller 120, thereby further simplifying the connection structure between the base 1 and the suspension support 2.

Further, the base 1 further includes a transmitting coil 140 and a first power module 170 connected to an external power source. The first power module 170 is electrically connected to the transmitting coil 140; the suspension support 2 also includes The receiving coil 240 and the second power module 270 are magnetically coupled to the transmitting coil 140, and the three-axis sensor 220, the second wireless communication module 230 and the controller 120 are all electrically connected to the second power module 270. The power module obtains power from an external power source and inputs it to the transmitting coil 140. The magnetic field generated by the transmitting coil 140 generates an induced electromotive force in the receiving coil 240. The second power module 270 can store the induced electromotive force and is a three-axis sensor in the suspension support 2 220. Electrical appliances such as the second wireless communication module 230 and the controller 120 provide electrical energy to ensure the normal operation of the supporting equipment.

Further, the base 1 further includes a first housing 150, the controller 120 is installed in the first housing 150, and the electromagnetic component 110 is installed on the first housing 150 facing the suspension The outer wall of the support 2; the suspension support 2 further includes a second housing 250, and the permanent magnet assembly 210 is installed on the outer wall of the second housing 250 facing the base 1. In this way, the distance between the electromagnetic assembly 110 and the permanent magnet assembly 210 can be effectively shortened to ensure that the permanent magnet assembly 210 is located within the magnetic field of the electromagnetic assembly 110, and the effective control of the suspension of the suspension support 2 by the base 1 is improved. Sex and stability.

Wherein, the outer wall of the first housing 150 facing the suspension support 2 may preferably be a curved surface that matches the shape of the curved surface of the electromagnetic assembly 110, and the outer wall of the second housing 250 facing the base 1 may preferably be a permanent magnet. The curved surface adapted to the curved shape of the component 210, on the one hand, facilitates the installation and fixation of the electromagnetic component 110 and the permanent magnet component 210, and on the other hand, the opening of the first curved surface and the opening of the second curved surface are arranged in the same direction, and the opening of the first curved surface Towards the suspension support 2, an accommodating cavity can be formed in the base 1. When the suspension support 2 does not need to support other objects, the current input of the electromagnetic assembly 110 is stopped, so that the suspension support 2 can be accommodated in the base 1. , To facilitate the use and storage of supporting equipment.

Specifically, the first housing 150 is further provided with a positioning sensor (not shown) facing the outer wall of the suspension support 2, and the positioning sensor (not shown) is connected to the controller 120 to control The device 120 can determine the position of the suspension support 2 relative to the base 1 according to information from a positioning sensor (not shown). For example, the positioning sensor (not shown) may be a camera, and the controller 120 may recognize the position of the suspension support 2 relative to the base 1 according to the image collected by the camera, and control the operation of the electromagnet 111 based on the determined position to The accuracy of the control of the electromagnet 111 is improved, and the object supported by the suspension support 2 can be maintained in a desired posture.

Further, the surface of the permanent magnet assembly 210 facing the base 1 is provided with a marker 260, so that the controller 120 can determine each first permanent magnet in the suspension support 2 according to the position of the marker 260 in the image 211 and the position of each second permanent magnet 212 relative to the base 1 to control the operation of the electromagnet 111 based on the determined position to further improve the accuracy of the control of the electromagnet 111 and ensure that the suspension support 2 supports The object can be maintained in the desired posture.

Further, there are multiple positioning sensors (not shown), and multiple positioning sensors (not shown) are arranged at intervals. Through the arrangement of multiple positioning sensors (not shown), it is helpful to ensure that the image of the marker 260 of the suspension support 2 can also be effectively obtained when the position of the suspension support 2 changes greatly, so as to accurately determine each first permanent magnet 211 And the position of each second permanent magnet 212 is relative to the position of the base 1.

Wherein, as shown in FIG. 2, the controller may include a processor 1001, such as a CPU, a memory 1002, and so on. The memory 1002 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage. Optionally, the memory 1002 may also be a storage device independent of the foregoing processor 1001. Those skilled in the art can understand that the device structure shown in FIG. 2 does not constitute a limitation on the device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different component arrangements.

As shown in FIG. 2, the memory 1002, which is a readable storage medium, may include a floating control

program. In the device shown in FIG. 2, the processor 1001 can be used to call the levitation control program stored in the memory 1002 and execute the relevant steps of the levitation control method in any of the following embodiments.

In addition, this application also proposes a suspension control method, which can be applied to the aforementioned supporting equipment.

In the first embodiment of the suspension control method of the present application, referring to FIG. 3, the suspension control method includes:

Step S10, acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Any object containing a plurality of first permanent magnets and second permanent magnets arranged in an array with opposite magnetic properties can be used as a floating target, and the floating support in the above-mentioned supporting device installed with a supported object can also be used as a floating target. The current attitude parameters of the floating target are specifically detected by a three-axis sensor (such as a three-axis gyroscope, etc.) provided on the floating target.

The current attitude parameters specifically include the current three-axis angular velocity, three-axis speed, three-axis acceleration, and the deflection angle of the three-axis relative to the ground of the suspended target. The corresponding target attitude parameters include the target three-axis angular velocity, the target three-axis velocity, the target three-axis acceleration, and the target deflection angle of the three-axis relative to the ground. Among them, the target attitude parameter is specifically determined according to the three-axis components of the motion parameters such as the target inclination angle of the suspended target when it is stationary or the motion direction, motion speed, and tilt angle of the floating target when in motion. Among them, when the base is in motion, the target attitude parameters of the suspended target can be determined according to the current motion parameters of the base (such as three-axis acceleration, three-axis angular velocity, three-axis speed, deflection angle of the three-axis relative to the ground, etc.) .

Step S20, determining the amount of difference between the current attitude parameter and the target attitude parameter;

Determine the difference between the current attitude parameter and the target attitude parameter of the same type as the difference amount.

Step S30, controlling the operation of a plurality of electromagnets in the base according to the difference amount, and the plurality of electromagnets are arranged in an array.

Control whether each electromagnet is energized according to the amount of difference, or input the current magnitude, current direction, and switching frequency of the current direction of each electromagnet. Among them, two adjacent electromagnets input currents in opposite directions at the same time.

Specifically, in the above-mentioned first embodiment, referring to FIG. 4, the step S30 may include:

Step S30a: Determine the target current magnitude and target current direction of each electromagnet according to the difference amount;

The vector sum of the adjustment force of the base on the suspended target can be calculated according to the difference, and the magnitude and direction of the adjustment force can be determined according to the vector sum of the adjustment force. Determine the direction of the magnetic field corresponding to each electromagnet according to the direction of the determined adjustment force (ie the direction of magnetic force), and determine the target current direction of each electromagnet according to the determined direction of the magnetic field of each electromagnet; determine the size of the determined adjustment force The intensity of the magnetic field corresponding to each electromagnet (that is, the size of the magnetic force), and the target current size of each electromagnet is determined according to the determined magnetic field intensity corresponding to each electromagnet.

Step S30b, input a corresponding current to each electromagnet according to the determined target current magnitude and target current direction, so as to control the magnetic field generated by each electromagnet.

Adjust the magnetic field strength of the electromagnet by changing the target current of the input electromagnet to achieve the adjustment of the force of the base on the floating target; by changing the target current direction of the input electromagnet, adjust the direction of the electromagnet's magnetic field to achieve the base Adjustment of the direction of force of the suspended target.

In this embodiment, the input current of each electromagnet is adjusted according to the difference, so that the floating target is maintained in the target posture under the combined force of each electromagnet.

Further, based on the above-mentioned first embodiment, a second embodiment of the levitation control method of the present application is proposed. In the second embodiment, referring to FIG. 5, the target current size and the size of each electromagnet are determined according to the difference amount. Before the step of target current direction, it also includes:

Step S00, detecting relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base;

Specifically, the relative position information is the position information of each first permanent magnet and each second permanent magnet relative to the base using the base as a reference.

Step S31: Determine the target current magnitude and target current direction of each electromagnet according to the position information and the difference amount.

According to the position information, it is possible to determine the electromagnet that exerts a force on the permanent magnet (that is, the floating target is within its magnetic field) among the multiple electromagnets, and determine the target current size and target current direction of each electromagnet according to the difference.

Specifically, referring to FIG. 6, step S31 includes:

Step S311, determining a target electromagnet of the plurality of electromagnets according to the relative position information;

According to the relative position information, the electromagnet that exerts force on the permanent magnet can be determined as the effective electromagnet, and the electromagnet that does not exert force on the permanent magnet can be determined as the invalid electromagnet. Part of the effective electromagnet can be energized , Some are not powered. Among the effective electromagnets, the electromagnet that is determined to be energized and turned on can be used as the target electromagnet.

Step S312: Determine the target current magnitude and target current direction of the target electromagnet according to the difference amount.

The magnitude and direction of the target current of the target electromagnet can be determined according to the difference and relative position information.

In this embodiment, the target current magnitude and target current direction of each electromagnet are determined by combining the relative position information of each first permanent magnet and each second permanent magnet with respect to the base, which is beneficial to accurately determine the input electromagnet The current, so that the attitude adjustment of the floating target is more accurate.

Further, a third embodiment of the suspension control method of the present application is proposed based on the above-mentioned second embodiment. In the third embodiment, referring to FIG. 7, the detecting that each of the first permanent magnets and each of the second permanent magnets are opposite The steps of the relative position information on the base include:

Step S01, detecting the induced electromotive force in each electromagnet;

Step S02: Determine the relative position information according to the acquired induced electromotive force.

Since the displacement of the first permanent magnet and the second permanent magnet on the magnetic field generated by the electromagnet will cause induced electromotive force to be generated in the electromagnet, it can be determined according to the size and distribution position of the induced electromotive force of each electromagnet obtained Relative location information.

In this embodiment, the relative position information of each first permanent magnet and each second permanent magnet is determined by the induced electromotive force, and the relative position information can be determined accurately and quickly, and no other components are required to ensure that the structure of the supporting device is simplified, while The floating target can accurately maintain its target posture.

In addition, a fourth embodiment of the levitation control method of the present application is proposed based on the above second embodiment. In the fourth embodiment, referring to FIG. 8, the levitation target is provided with an identifier, and the detection of each of the first permanent magnets and The steps of the relative position information of each of the second permanent magnets relative to the base include:

Step S03, acquiring an image of the floating target;

Step S04, identifying the marker in the image;

The marker may specifically be an object with a specific color or an object with a specific texture.

Step S05: Determine first position information of the marker relative to the base according to the image coordinates of the marker;

Determine the image target of the marker in the image of the floating target. Since the position of the positioning sensor is fixed on the base, the image coordinates can be converted into the first position information through a preset conversion relationship.

Step S06: Determine relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base according to the first position information.

Since the positions of the first permanent magnets, the second permanent magnets, and the markers are fixed on the base, according to the first position information, it can be determined that the first permanent magnets and the second permanent magnets are relative to all the The relative position information of the base.

In this embodiment, the relative position information of each first permanent magnet and each second permanent magnet is determined by the image recognition method. The image can accurately reflect the current actual state of the floating target, so that the obtained relative position information is more accurate. Further ensure that the suspended target can maintain its target posture.

In addition, an embodiment of the present application also proposes a readable storage medium, the computer-readable storage medium stores a levitation control program, and when the levitation control program is executed by a processor, the steps of any embodiment of the above levitation control method are implemented operating.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or system. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article or system that includes the element.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the superiority of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disk, optical disk), including several instructions to make a terminal device (can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.

The above are only preferred embodiments of this application, and do not limit the scope of this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of this application, or directly or indirectly used in other related technical fields , The same reason is included in the scope of patent protection of this application.

Claims

A suspension control method, wherein the suspension control method includes:

Acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Determining the amount of difference between the current attitude parameter and the target attitude parameter; and,

The operation of a plurality of electromagnets in the base is controlled according to the difference amount, and the plurality of electromagnets are arranged in an array.
The levitation control method of claim 1, wherein the step of controlling the operation of a plurality of electromagnets according to the difference amount comprises:

Determine the target current magnitude and target current direction of each electromagnet according to the difference amount; and,

According to the determined target current magnitude and target current direction, a corresponding current is input to each electromagnet to control the magnetic field generated by each electromagnet.
The levitation control method of claim 2, wherein the step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount comprises:

Calculating the vector sum of the adjustment force of the base on the floating target according to the difference;

Determining the magnitude of the adjustment force and the direction of the adjustment force according to the vector sum of the adjustment force;

Determine the magnetic field direction of each electromagnet according to the direction of the adjustment force, and determine the magnetic field strength of each electromagnet according to the magnitude of the adjustment force; and,

The target current direction of each electromagnet is determined according to the determined magnetic field direction, and the target current magnitude of each electromagnet is determined according to the determined magnetic field strength.
3. The levitation control method of claim 2, wherein before the step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount, the method further comprises:

Detecting relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base; and,

The step of determining the target current magnitude and target current direction of each electromagnet according to the difference amount includes:

Determine the target current magnitude and target current direction of each electromagnet according to the relative position information and the difference amount.
The levitation control method according to claim 4, wherein the step of determining the target current magnitude and target current direction of each electromagnet according to the position information and the difference amount comprises:

Determine the target electromagnet of the plurality of electromagnets according to the position information; and,

Determine the target current magnitude and target current direction of the target electromagnet according to the difference amount.
5. The levitation control method of claim 5, wherein the step of detecting relative position information of each of the first permanent magnets and each of the second permanent magnets with respect to the base comprises:

Detecting the induced electromotive force in each of the electromagnets; and,

The relative position information is determined according to the acquired induced electromotive force.
The levitation control method of claim 6, wherein the levitation target is provided with an identifier, and the detection of relative position information of each of the first permanent magnets and each of the second permanent magnets with respect to the base The steps include:

Acquiring an image of the floating target;

Identifying the marker in the image;

Determine the first position information of the marker relative to the base according to the image coordinates of the marker; and,

The relative position information of each of the first permanent magnets and each of the second permanent magnets relative to the base is determined according to the first position information.
8. The suspension control method of claim 7, wherein the marker is an object with a preset color or an object with a preset texture.
The levitation control method of claim 1, wherein the current attitude parameters include three-axis acceleration, three-axis speed, and three-axis deflection angle of the floating target.
The levitation control method according to claim 1, wherein the current input from two adjacent electromagnets at the same time is opposite in direction.
A controller, wherein the controller includes a memory, a processor, and a levitation control program stored on the memory and capable of being run on the processor, and when the levitation control program is executed by the processor The steps to implement the following suspension control method:

Acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Determining the amount of difference between the current attitude parameter and the target attitude parameter; and,

The operation of a plurality of electromagnets in the base is controlled according to the difference amount, and the plurality of electromagnets are arranged in an array.
A supporting device, wherein the supporting device includes:

A base, the base includes a plurality of electromagnets and a controller, the plurality of electromagnets are arranged in an array and form a first curved surface, and the controller is connected to each of the electromagnets;

A levitation support, as a levitation target, the levitation support is spaced apart from and opposite to the base, the levitation support includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties, the first permanent magnet Arranged alternately with the second permanent magnet and form a second curved surface;

Wherein, the controller includes: a memory, a processor, and a levitation control program stored on the memory and capable of running on the processor, and the levitation control program is executed by the processor to implement the following levitation control method A step of:

Acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Determining the amount of difference between the current attitude parameter and the target attitude parameter; and,

The operation of a plurality of electromagnets in the base is controlled according to the difference amount, and the plurality of electromagnets are arranged in an array.
The supporting device according to claim 12, wherein the opening of the first curved surface and the opening of the second curved surface are arranged in the same direction, and the opening of the first curved surface faces the suspension support.
The supporting device according to claim 13, wherein the levitation support further comprises a three-axis sensor, the three-axis sensor is communicatively connected with the controller, and the three-axis sensor is configured to detect the Attitude parameters.
The support device according to claim 14, wherein the base further comprises a first wireless communication module connected with the controller;

The suspension support further includes a second wireless communication module, the first wireless communication module is communicatively connected with the second wireless communication module, and the second wireless communication module is connected with the three-axis sensor.
The support device according to claim 15, wherein the base further comprises a transmitting coil and a first power module connected to an external power source, and the power module is electrically connected to the transmitting coil;

The levitation support further includes a receiving coil and a second power module that are magnetically coupled to the transmitting coil, and the three-axis sensor, the second wireless communication module, and the controller are all electrically connected to the second power module .
The supporting device according to claim 12, wherein the base further comprises a first housing, the controller is installed in the first housing, and each electromagnet is installed on the first housing facing The outer wall of the suspension support;

The suspension support further includes a second housing, and the first permanent magnet and the second permanent magnet are mounted on the outer wall of the second housing facing the base.
A readable storage medium, wherein a suspension control program is stored on the readable storage medium, and when the suspension control program is executed by a processor, the following steps of the suspension control method are implemented:

Acquiring the current posture parameters of the floating target and the target posture parameters corresponding to the floating target; the floating target includes a plurality of first permanent magnets and second permanent magnets with opposite magnetic properties and arranged in an array;

Determining the amount of difference between the current attitude parameter and the target attitude parameter; and,

The operation of a plurality of electromagnets in the base is controlled according to the difference amount, and the plurality of electromagnets are arranged in an array.