Cable arrangement control method, device and computer readable medium

Abstract

The present invention provides a cable routing control method, device, and computer-readable medium. The method includes: obtaining routing parameters of a cable to be routed; determining a first routing speed for routing the cable to be routed based on the routing parameters; determining a reversal distance of a cable routing shaft; wherein the reversal distance represents the routing distance of the cable routing shaft during the reversal process; determining a second routing speed for routing the cable to be routed within the reversal distance based on the reversal distance and the first routing speed; and controlling the cable routing shaft to route the cable to be routed based on the first and second routing speeds. This solution can improve the accuracy of cable routing control.

Description

Technical Field

[0001] The present invention relates to the field of industrial and electrical control technology, and in particular to a cable arrangement control method, device, and computer-readable medium. Background Art

[0002] Because cables are generally long, they are prone to becoming tangled and entangled. This tangled state can significantly hinder subsequent use and transportation. Furthermore, for some cables, entanglement can easily break the core, rendering the cable unusable. Therefore, to ensure safe use and transportation, cables are often wound on reels. For example, after production, cables are wound on I-shaped reels.

[0003] The effectiveness of cable routing is primarily reflected in cable smoothness and cable tension stability, and the cable reel's routing speed is a crucial factor in these conditions. Too fast a speed can cause cable stretching, while too slow can lead to loose cables and insufficient cable smoothness and tension. Frequent reversals during cable routing further complicate speed control. Consequently, the current low speed control accuracy often results in poor cable smoothness and tension stability. Summary of the Invention

[0004] The present invention provides a cable arrangement control method, a device and a computer-readable medium, which can improve the control accuracy of cable arrangement.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling cable routing, comprising:

[0006] Get the wiring parameters of the cable to be wired;

[0007] Determining a first arranging speed for arranging the cable to be arranged according to the arranging parameters;

[0008] Determine the reversing distance of the wire tracing shaft; wherein the reversing distance is used to characterize the wire tracing distance of the wire tracing shaft in the reversing process;

[0009] Determining a second cable arrangement speed for arranging the cable to be arranged within the reversing distance according to the reversing distance and the first cable arrangement speed;

[0010] The cable arranging shaft is controlled to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed.

[0011] In a possible implementation, the cable arrangement parameters include a rotation speed of a take-up reel, a number of cables n spun out by the cable arrangement reel, and a total cable width of the n cables; wherein the cables to be arranged are controlled by the cable arrangement reel to be arranged on the take-up reel;

[0012] The step of determining a first arranging speed for arranging the cable to be arranged according to the arranging parameters includes:

[0013] The first row linear velocity is calculated using the following formula:

[0014] v1=(vs×R×n×ω) / 60

[0015] Among them, v1 is used to represent the first row of linear speed, v s It is used to characterize the rotation speed of the reel, R is used to characterize the total cable width, and ω is used to characterize the winding ratio of the cable arrangement device.

[0016] In a possible implementation, the step of determining the reversing distance of the cable spool includes:

[0017] Obtaining the coordinates of the reversing position of the reversing mark and the edge position coordinates of the edge of the cable spool; wherein the reversing mark is used to indicate the starting position of the cable spool entering the reversing distance, and the edge of the cable spool is used to indicate the farthest position that the cable spool can move to relative to the starting position;

[0018] The difference between the edge position coordinate and the reversing position coordinate is calculated to obtain the reversing distance of the cable axis.

[0019] In a possible implementation, the step of determining a second wiring speed for wiring the cable to be wired within the reversing distance according to the reversing distance and the first wiring speed includes:

[0020] Determining a line speed coefficient according to the reversing distance;

[0021] The first linear speed is corrected using the linear speed coefficient to obtain the second linear speed.

[0022] In a possible implementation, the step of determining the line speed coefficient according to the reversing distance includes:

[0023] Detecting the current position of the cable spool to obtain actual position information;

[0024] Determining the distance between the actual position and the edge position of the cable spool according to the actual position information and the edge position information of the cable spool; and

[0025] The ratio of the distance to the reversing distance is calculated to obtain the line speed coefficient.

[0026] In a possible implementation, the step of correcting the first arranging line speed by using the arranging line speed coefficient to obtain the second arranging line speed includes:

[0027] The product of the first row line speed and the row line speed coefficient is calculated to obtain the second row line speed.

[0028] In a possible implementation, the step of controlling the cable arranging shaft to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed includes:

[0029] When the cable traversing shaft is located between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the second traversing speed; wherein the distance between the reversing mark and the edge of the cable traversing shaft is the reversing distance;

[0030] When the cable traversing shaft is not between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the first traversing speed.

[0031] In a second aspect, an embodiment of the present invention provides a control device for cable routing, comprising: a routing parameter acquisition module, a first routing speed determination module, a reversing distance determination module, a second routing speed determination module, and a routing control module;

[0032] The wiring parameter acquisition module is configured to obtain the wiring parameters of the cable to be wired;

[0033] The first wiring speed determining module is configured to determine a first wiring speed for wiring the cable to be wired according to the wiring parameters acquired by the wiring parameter acquiring module;

[0034] The reversing distance determining module is configured to determine the reversing distance of the cable traversing shaft; wherein the reversing distance is used to represent the cable traversing distance of the cable traversing shaft in the reversing process;

[0035] The second wiring speed determining module is configured to determine a second wiring speed for wiring the cable to be wired within the reversing distance according to the reversing distance determined by the reversing distance determining module and the first wiring speed;

[0036] The cable arrangement control module is configured to control the cable arrangement shaft to arrange the cable to be arranged according to the first cable arrangement speed determined by the first cable arrangement speed determination module and the second cable arrangement speed determined by the second cable arrangement speed determination module.

[0037] In a possible implementation, the cable arrangement parameters include a rotation speed of a take-up reel, a number of cables n spun out by the cable arrangement reel, and a total cable width of the n cables; wherein the cables to be arranged are controlled by the cable arrangement reel to be arranged on the take-up reel;

[0038] When determining the first arranging speed for arranging the cable to be arranged according to the arranging parameters, the first arranging speed determining module is configured to perform the following operations:

[0039] The first row linear velocity is calculated using the following formula:

[0040] v1=(vs×R×n×ω) / 60

[0041] Among them, v1 is used to represent the first row of linear speed, v s It is used to characterize the rotation speed of the reel, R is used to characterize the cable width, and ω is used to characterize the winding ratio of the cable arrangement device.

[0042] In a possible implementation, the reversing distance determining module is configured to perform the following operations when determining the reversing distance of the cable spool:

[0043] Obtaining the coordinates of the reversing position of the reversing mark and the edge position coordinates of the edge of the cable spool; wherein the reversing mark is used to indicate the starting position of the cable spool entering the reversing distance, and the edge of the cable spool is used to indicate the farthest position that the cable spool can move to relative to the starting position;

[0044] The difference between the edge position coordinate and the reversing position coordinate is calculated to obtain the reversing distance of the cable axis.

[0045] In a possible implementation, when determining the second wiring speed for wiring the cable to be wired within the reversing distance according to the reversing distance and the first wiring speed, the second wiring speed determining module is configured to perform the following operations:

[0046] Determining a line speed coefficient according to the reversing distance;

[0047] The first linear speed is corrected using the linear speed coefficient to obtain the second linear speed.

[0048] In a possible implementation, when determining the linear speed coefficient according to the reversing distance, the second linear speed determining module is configured to perform the following operations:

[0049] Detecting the current position of the cable spool to obtain actual position information;

[0050] Determining the distance between the actual position and the edge position of the cable spool according to the actual position information and the edge position information of the cable spool; and

[0051] The ratio of the distance to the reversing distance is calculated to obtain the line speed coefficient.

[0052] In a possible implementation, when the second linear speed determining module corrects the first linear speed using the linear speed coefficient to obtain the second linear speed, the second linear speed determining module is configured to perform the following operations:

[0053] The product of the first row line speed and the row line speed coefficient is calculated to obtain the second row line speed.

[0054] In a possible implementation, the cable arranging control module is configured to perform the following operations when controlling the cable arranging shaft to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed:

[0055] When the cable traversing shaft is located between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the second traversing speed; wherein the distance between the reversing mark and the edge of the cable traversing shaft is the reversing distance;

[0056] When the cable traversing shaft is not between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the first traversing speed.

[0057] In a third aspect, an embodiment of the present invention further provides a computing device, comprising: at least one memory and at least one processor;

[0058] The at least one memory is configured to store a machine-readable program;

[0059] The at least one processor is configured to call the machine-readable program to execute any one of the methods described in the first aspect.

[0060] In a fourth aspect, an embodiment of the present invention further provides a computer-readable medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes any one of the methods described in the first aspect.

[0061] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising a computer program, which implements any of the methods described in the first aspect when executed by a processor.

[0062] As can be seen from the above technical solution, when arranging cables, the first consideration is to obtain the arranging parameters of the cable to be arranged. Then, based on these arranging parameters, a first arranging speed for arranging the cable to be arranged can be determined. Furthermore, the reversing distance of the arranging shaft can be determined, and based on this reversing distance and the first arranging speed, a second arranging speed for arranging the cable to be arranged within the reversing distance can be determined. In this way, the arranging shaft can be controlled to arrange the cable to be arranged based on the first and second arranging speeds. This shows that this solution not only uses the parameters of the cable to be arranged to determine the arranging speed, but also determines the arranging speed for the reversing process based on the reversing distance. By controlling the arranging process using multiple arranging speeds in this way, the control accuracy of cable arranging can be improved, thereby enhancing the flatness and tension stability of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 This is a flow chart of a cable routing control method provided by one embodiment of the present invention;

[0065] Figure 2 This is a schematic diagram of a cable arrangement provided by an embodiment of the present invention;

[0066] Figure 3 is a flow chart of a method for determining a commutation distance provided by one embodiment of the present invention;

[0067] Figure 4 This is a schematic diagram of the movement of a cable spool provided by one embodiment of the present invention;

[0068] Figure 5 is a flow chart of a method for determining a second row line speed provided by one embodiment of the present invention;

[0069] Figure 6 This is a flow chart of a method for determining a line speed coefficient provided by one embodiment of the present invention;

[0070] Figure 7 is a schematic diagram of a cable arrangement control device provided by one embodiment of the present invention;

[0071] Figure 8 It is a schematic diagram of a computing device provided by one embodiment of the present invention.

[0072] Reference Signs List

[0073] 101: Get the wiring parameters of the cable to be wired

[0074] 102: Determine the first wiring speed for wiring the cable to be wired according to the wiring parameters

[0075] 103: Determine the reversing distance of the cable shaft

[0076] 104: According to the reversing distance and the first arranging speed, determine the second arranging speed for arranging the cable within the reversing distance

[0077] 105: According to the first and second arranging speeds, control the arranging axis to arrange the cables

[0078] 201: Cable spool 202: Reel R: Total cable width

[0079] 301: Get the commutation position coordinates of the commutation mark and the edge position coordinates of the wire axis edge

[0080] 302: Calculate the difference between the edge position coordinates and the reversing position coordinates to obtain the reversing distance a / b of the cable shaft: cable shaft edge A / B: reversing mark positioning M: cable shaft

[0081] 501: Determine the line speed coefficient based on the reversing distance

[0082] 502: Use the line speed coefficient to correct the first line speed to obtain the second line speed

[0083] 601: Detect the current position of the cable shaft and obtain the actual position information

[0084] 602: Determine the distance between the actual position and the edge position of the cable shaft based on the actual position information and the edge position information of the cable shaft

[0085] 603: Calculate the ratio between this distance and the reversing distance to obtain the line speed coefficient

[0086] 701: Wire drawing parameter acquisition module 702: First wire drawing speed determination module

[0087] 703: Reversing distance determination module 704: Second row line speed determination module

[0088] 705: Cable control module

[0089] 801: Memory 802: Processor 800: Computing device

[0090] 100: Cable arrangement control method 700: Cable arrangement control device DETAILED DESCRIPTION

[0091] As mentioned earlier, since cables are generally long, they are very easy to become messy and entangled with each other. If the cables are messy or entangled with each other, it will be very disadvantageous when they are subsequently transported or used. For example, a lot of time will be needed to sort out the entangled cables during subsequent use, which is very time-consuming. In addition, the cores of some cables are relatively brittle, and if the cables are entangled with each other, it is very easy to cause the cable core to break, making the cable unusable. Therefore, the cables are usually arranged on a reel to ensure the subsequent transportation and use of the cables. For example, after the cable is produced, it will be arranged on an I-shaped reel.

[0092] When arranging cables, it is necessary to ensure that the cables have good flatness and stable tension on the reel to ensure good cable arrangement, which is more conducive to subsequent use, transportation, and other processes. The flatness and stable tension of the cable arrangement are mainly determined by the cable arrangement speed of the reel. For example, too fast a cable arrangement speed may cause the cable to be stretched, while too slow a speed may cause the cable to be too loose and lack flatness and tension. When arranging cables, frequent direction changes are required, which further increases the difficulty of controlling the cable arrangement speed. Moreover, if the control accuracy of the cable arrangement speed is not accurate enough, the cable may not be tightly positioned at the edge of the reel, which will also cause the cable arrangement to have poor flatness and tension stability. Therefore, the current low cable arrangement speed control accuracy often leads to poor cable flatness and tension stability.

[0093] Based on this, this embodiment not only uses the parameters of the cable to be routed to determine the cable routing speed, but also determines the cable routing speed based on the reversing distance during the reversing process. By using multiple cable routing speeds to control the cable routing process, the control accuracy of the cable routing can be improved, thereby improving the smoothness and tension stability of the cable routing.

[0094] The following describes in detail the cable arrangement control method, device, and computer-readable medium provided by the embodiments of the present invention with reference to the accompanying drawings.

[0095] like Figure 1 As shown, an embodiment of the present invention provides a cable routing control method 100, which may include the following steps:

[0096] Step 101: Obtaining wiring parameters of the cable to be wired;

[0097] Step 102: determining a first arranging speed for arranging the cable to be arranged according to the arranging parameters;

[0098] Step 103: determining a reversing distance of the cable traversing shaft; wherein the reversing distance is used to represent the cable traversing distance of the cable traversing shaft during the reversing process;

[0099] Step 104: Determine a second arranging speed for arranging the cable within the reversing distance according to the reversing distance and the first arranging speed;

[0100] Step 105: Control the cable arrangement shaft to arrange the cable according to the first and second cable arrangement speeds.

[0101] In the embodiments of this specification, when arranging cables, the first consideration is to obtain the arranging parameters of the cable to be arranged, and then the first arranging speed for arranging the cable to be arranged can be determined based on the arranging parameters. Furthermore, the reversing distance that characterizes the arranging distance of the arranging shaft in the reversing process can be determined, and based on the reversing distance and the first arranging speed, the second arranging speed for arranging the cable to be arranged within the reversing distance can be determined. In this way, the arranging shaft can be controlled to arrange the cable to be arranged based on the first arranging speed and the second arranging speed. It can be seen that not only the parameters of the cable to be arranged are used to determine the arranging speed, but also the arranging speed is determined for the reversing process based on the reversing distance. By controlling the arranging process using multiple arranging speeds in this way, the control accuracy of arranging the cable can be improved, thereby improving the flatness and tension stability of the cable arrangement.

[0102] The following is a detailed description of the embodiments of the present invention. Figure 1 Each step in is described below.

[0103] First, in step 101, the wiring parameters of the cable to be wired are obtained.

[0104] In practice, the cable arrangement parameters of the cable to be arranged may include the speed of the take-up reel, the number of cables n spun out by the reel, the total cable width of the n cables, etc. The cable to be arranged is controlled by the reel to be arranged on the take-up reel, that is, the reel guides the cable to be arranged to be wound around the reel in turns.

[0105] The reel's speed can be dynamically adjusted based on the number of layers of cable on the reel. For example, as the number of layers increases, the reel's linear speed increases. However, to achieve optimal cable routing, the reel's linear speed should remain constant. Therefore, the reel's speed can be appropriately reduced as the number of layers increases or as the linear speed increases, maintaining a constant linear speed.

[0106] For multi-strand cables, the cable spool will spit out multiple cables at the same time. These cables can then be laid flat next to each other and arranged on the cable spool. Figure 2As shown in the schematic diagram, for n cables, the cable spool 201 simultaneously guides these n cables onto the winding spool 202. During one winding process, these n cables are laid flat and close together. That is, for a multi-strand cable, the total cable width of the n cables after one winding is R.

[0107] In addition, since different cable arrangement devices have different device structural parameters, for example, different devices have different winding ratios according to different structures, the cable arrangement parameters may also include the winding ratio of the cable arrangement device for arranging the cable to be arranged.

[0108] Then, in step 102, a first arranging speed of the cable to be arranged is determined according to the arranging parameters.

[0109] In this step, after obtaining the wiring parameters of the cable to be wired, the following calculation formula can be used to calculate the first wiring speed:

[0110] v1=(vs×R×n×ω) / 60

[0111] Among them, v1 is used to represent the first row linear velocity, v s It is used to represent the rotation speed of the cable reel, R is used to represent the total cable width, and ω is used to represent the winding ratio of the cable arrangement equipment.

[0112] In this step, the first arranging speed of the cable to be arranged can be accurately calculated based on the above calculation formula, so that the arranging shaft can be accurately controlled. When actually controlling the speed of the arranging shaft, the first arranging speed can be used to control the stage when the arranging shaft is outside the reversing distance. It is easy to understand that the first arranging speed is the value of a uniform arranging stage. Of course, the uniform arranging stage does not mean that the first arranging speed remains unchanged during the arranging process, but that the arranging process for each layer is uniform. Due to the rotation speed v of the winding shaft s It will change due to the number of cable layers, so the first wiring speed of different layers may be different.

[0113] It should be noted that in the above calculation formula, v s The unit of is revolutions / min, the unit of the total cable width R is mm, and the unit of the first row line speed is mm / s.

[0114] Next, in step 103 , the reversing distance of the cable spool is determined.

[0115] During the arranging process, when the arranging shaft moves to a position close to the edge of the arranging shaft, the arranging shaft needs to reverse direction. The process from the beginning of the speed change of the arranging shaft to the turning is the arranging shaft's reversal process. When the arranging shaft speed changes and the arranging distance of the variable speed arranging are very important to the arranging effect. Therefore, it is necessary to determine the reversal distance of the arranging shaft, that is, the distance of the arranging shaft in the variable speed movement stage. Figure 3 As shown, step 103 may include the following steps:

[0116] Step 301: Obtain the coordinates of the reversing position of the reversing mark and the edge position coordinates of the edge of the cable traversing shaft; wherein the reversing mark is used to indicate the starting position of the cable traversing shaft entering the reversing distance, and the edge of the cable traversing shaft is used to indicate the farthest position that the cable traversing shaft can move to relative to the starting position;

[0117] Step 302: Calculate the difference between the edge position coordinates and the reversing position coordinates to obtain the reversing distance of the cable axis.

[0118] In this embodiment, when determining the reversing distance of the wire-drawing shaft, the first consideration is to obtain the reversing position coordinates of the reversing mark and the edge position coordinates of the wire-drawing shaft edge. The difference between the edge position coordinates and the reversing position coordinates is then calculated to determine the reversing distance of the wire-drawing shaft. The reversing mark position represents the starting position of the wire-drawing shaft entering the reversing distance, while the wire-drawing shaft edge represents the maximum position the wire-drawing shaft can move relative to the starting position. In other words, the wire-drawing shaft enters the variable speed wire-drawing phase from the reversing mark position and changes direction of motion at the wire-drawing shaft edge.

[0119] like Figure 4 The following figure shows the motion diagram of the wire-laying shaft. a and b represent the two edges of the shaft, and A and B are the two reversal markers. The shaft moves back and forth between a and b to lay the wire. When the shaft is within the reversal distances Aa and Bb, it is in the variable speed phase. When the shaft is between A and B, it is in the uniform speed phase.

[0120] based on Figure 4 In the schematic diagram, when the cable spool M moves from point a to point A, it is in variable acceleration. When it reaches point A, the cable spool M is controlled to reach the first cable speed. Then, the cable spool M moves from point A to point B at the first cable speed. From point B, the cable spool M moves at variable deceleration to point b, whereupon the cable spool M is controlled to reverse direction. After reversing direction, the cable spool M moves from point b to point B at variable acceleration, reaching the first cable speed upon reaching point B. Next, the cable spool M moves from point B to point A at the first cable speed, and then, from point A, it moves at variable deceleration to point a.

[0121] Furthermore, in step 104, a second arranging speed for arranging the cable to be arranged within the reversing distance is determined according to the reversing distance and the first arranging speed.

[0122] In this step, it is considered that the wire arrangement shaft needs to perform variable deceleration movement within the reversing distance. Therefore, the first wire arrangement speed can be adjusted based on the reversing distance to obtain the second wire arrangement speed within the reversing distance. Figure 5 As shown, step 104 may include the following steps when determining the second row line speed:

[0123] Step 501: Determine the line speed coefficient according to the reversing distance;

[0124] Step 502: Correct the first linear velocity using the linear velocity coefficient to obtain a second linear velocity.

[0125] In this embodiment, when determining the second cable routing speed, the cable routing speed coefficient can first be determined based on the reversing distance, and then the first cable routing speed can be corrected using the cable routing speed coefficient to obtain the second cable routing speed. By using the reversing distance to determine the cable routing speed coefficient, it can be applied to different cable routing scenarios. By adjusting the reversing distance to adjust the reversing coefficient, the second cable routing speed within the reversing distance can be adjusted. By using the adjusted second cable routing speed to control the cable routing reel, it can achieve good cable routing performance even at the edge of the reel.

[0126] In step 501, when determining the line speed coefficient according to the reversing distance, Figure 6 As shown, this can be achieved by the following steps:

[0127] Step 601: Detect the current position of the cable spool to obtain actual position information;

[0128] Step 602: Determine the distance between the actual position and the edge position of the cable spool based on the actual position information and the edge position information of the cable spool; and

[0129] Step 603: Calculate the ratio between the distance and the reversing distance to obtain the line speed coefficient.

[0130] In this embodiment, when determining the wire winding speed coefficient, the current position of the wire winding shaft can be detected to obtain actual position information. Then, based on this actual position information and the edge position information of the wire winding shaft, the distance between the actual position of the wire winding shaft and the edge position is determined. The wire winding speed coefficient can be further calculated by calculating the ratio of this distance to the reversal distance. In other words, when determining the wire winding speed coefficient, this solution calculates the proportion of the distance the wire winding shaft has already traveled within the reversal distance. As the wire winding shaft continues to move within the reversal distance, the wire winding speed coefficient also changes continuously. As the actual position of the wire winding shaft approaches the edge position, the distance between the actual position and the edge position gradually decreases, and the wire winding speed coefficient also decreases. This very low speed near the edge allows the cable to fill the gap at the edge of the winding shaft, thereby improving the flatness of the wire winding and the stability of the tension.

[0131] For example, when calculating the line speed coefficient, it can be obtained by the following formula:

[0132]

[0133] Among them, K is used to represent the wire tracing speed coefficient, E is used to represent the distance of the edge position relative to the set origin, T is used to represent the distance of the actual position of the wire tracing axis relative to the set origin, and P is used to represent the reversal distance, that is, the distance between the reversal mark and the edge of the wire tracing axis. It should be noted that the set origin can be the middle position of the wire tracing axis during the uniform speed tracing phase or the edge position of one end of the wire tracing axis. The wire tracing coefficient does not need to involve a positive or negative sign, that is, all wire tracing speed coefficients are positive. During the actual wire tracing process, the wire tracing axis can be controlled to reverse when the wire tracing speed decreases to a certain set value.

[0134] In step 502 , when the first linear velocity is corrected by using the linear velocity coefficient to obtain the second linear velocity, the product of the first linear velocity and the linear velocity coefficient may be calculated to obtain the second linear velocity.

[0135] For example, the second row linear velocity can be calculated as follows:

[0136] v2=(vs×R×n×ω×K) / 60

[0137] Among them, v2 is used to represent the second row linear velocity, v s It is used to represent the rotation speed of the cable reel, R is used to represent the total cable width, ω is used to represent the winding ratio of the cable arrangement equipment, and K is used to represent the cable arrangement speed coefficient.

[0138] Finally, in step 105, the cable arrangement shaft is controlled to arrange the cables to be arranged according to the first and second cable arrangement speeds.

[0139] In this step, the first and second wire-laying speeds are considered for controlling the speed of different wire-laying stages. For example, when the wire-laying spool is located between the reversal mark and the spool edge, the spool is controlled to lay the cable at the second speed. The reversal distance is the distance between the reversal mark and the spool edge. When the spool is not between the reversal mark and the spool edge, the spool is controlled to lay the cable at the first speed. By controlling the speed of different wire-laying stages using different speeds, the accuracy of cable-laying control can be improved, thereby enhancing the cable-laying performance. Specifically, within the reversal distance, the second wire-laying speed continuously changes based on the actual position of the spool. The closer the actual position of the spool is to the edge, the slower the second wire-laying speed. This ensures that the cable to be laid is properly filled at the edge of the spool, thereby improving cable smoothness and tension stability.

[0140] In other words, the cable spool guides the cable to be routed back and forth on the reel. Therefore, the cable routing process consists of two main phases: a uniform cable routing phase when the spool is outside the reversal distance, and a variable speed phase when the spool is within the reversal distance. By controlling these two phases separately, the accuracy of cable routing speed control can be improved, thereby improving cable flatness and tension stability.

[0141] like Figure 7 As shown, an embodiment of the present invention provides a control device 700 for cable arranging, which may include: a cable arranging parameter acquisition module 701, a first cable arranging speed determination module 702, a reversing distance determination module 703, a second cable arranging speed determination module 704 and a cable arranging control module 705;

[0142] The wiring parameter acquisition module 701 is configured to obtain the wiring parameters of the cable to be wired;

[0143] A first wiring speed determining module 702 is configured to determine a first wiring speed for wiring the cable to be wired according to the wiring parameters acquired by the wiring parameter acquiring module 701;

[0144] The reversing distance determining module 703 is configured to determine the reversing distance of the wire tracing shaft; wherein the reversing distance is used to represent the wire tracing distance of the wire tracing shaft in the reversing process;

[0145] A second wiring speed determining module 704 is configured to determine a second wiring speed for wiring the cable to be wired within the reversing distance according to the reversing distance determined by the reversing distance determining module 703 and the first wiring speed;

[0146] The cable arrangement control module 705 is configured to control the cable arrangement shaft to arrange the cable according to the first cable arrangement speed determined by the first cable arrangement speed determination module 702 and the second cable arrangement speed determined by the second cable arrangement speed determination module 704 .

[0147] In one possible implementation, the cable arrangement parameters include a rotation speed of a take-up reel, a number of cables n spun out by the cable arrangement reel, and a total cable width of the n cables; wherein the cables to be arranged are controlled by the cable arrangement reel to be arranged on the take-up reel;

[0148] When determining the first arranging speed for arranging the cable to be arranged according to the arranging parameters, the first arranging speed determining module 702 is configured to perform the following operations:

[0149] Use the following formula to calculate the first row line speed:

[0150] v1=(vs×R×n×ω) / 60

[0151] Among them, v1 is used to represent the first row linear velocity, v s It is used to represent the rotation speed of the cable reel, R is used to represent the cable width, and ω is used to represent the winding ratio of the cable arrangement equipment.

[0152] In a possible implementation, the reversing distance determining module 703 is configured to perform the following operations when determining the reversing distance of the cable spool:

[0153] Obtain the commutation position coordinates of the commutation mark positioning and the edge position coordinates of the edge of the wire traversing shaft; wherein the commutation mark positioning is used to indicate the starting position of the wire traversing shaft entering the commutation distance, and the edge of the wire traversing shaft is used to indicate the farthest position that the wire traversing shaft can move to relative to the starting position;

[0154] The difference between the edge position coordinates and the reversing position coordinates is calculated to obtain the reversing distance of the cable axis.

[0155] In one possible implementation, when determining the second wiring speed for wiring the cable to be wired within the reversing distance according to the reversing distance and the first wiring speed, the second wiring speed determining module 704 is configured to perform the following operations:

[0156] Determine the line speed coefficient based on the reversing distance;

[0157] The first linear speed is corrected using the linear speed coefficient to obtain the second linear speed.

[0158] In a possible implementation, the second linear velocity determination module 704 is configured to perform the following operations when determining the linear velocity coefficient according to the reversing distance:

[0159] Detect the current position of the cable shaft to obtain the actual position information;

[0160] Determine the distance between the actual position and the edge position of the cable spool according to the actual position information and the edge position information of the cable spool; and

[0161] The ratio of this distance to the reversing distance is calculated to obtain the line speed coefficient.

[0162] In a possible implementation, when the second linear speed determining module 704 uses the linear speed coefficient to correct the first linear speed to obtain the second linear speed, it is configured to perform the following operations:

[0163] The product of the first row line speed and the row line speed coefficient is calculated to obtain the second row line speed.

[0164] In a possible implementation, the cable arrangement control module 705 is configured to perform the following operations when controlling the cable arrangement shaft to arrange the cable to be arranged according to the first and second cable arrangement speeds:

[0165] When the cable traversing shaft is located between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at a second traversing speed; wherein the distance between the reversing mark and the edge of the cable traversing shaft is the reversing distance;

[0166] When the cable traversing shaft is not between the reversing mark positioning and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at a first traversing speed.

[0167] like Figure 8 As shown, an embodiment of the present invention further provides a computing device 800, comprising: at least one memory 801 and at least one processor 802;

[0168] At least one memory 801 for storing a machine-readable program;

[0169] At least one processor 802 is coupled to at least one memory 801 and is configured to call a machine-readable program to execute the cable arrangement control method 100 provided in any one of the above embodiments.

[0170] The present invention further provides a computer-readable medium having computer instructions stored thereon. When executed by a processor, the computer instructions cause the processor to execute the cable routing control method 100 provided in any of the aforementioned embodiments. The present invention further provides a computer program product, including a computer program. When executed by a processor, the computer program implements any of the aforementioned cable routing control methods 100. Specifically, a system or device equipped with a storage medium can be provided. The storage medium stores software program code that implements the functions of any of the aforementioned embodiments, and causes a computer (or CPU or MPU) of the system or device to read and execute the program code stored in the storage medium.

[0171] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0172] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0173] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0174] In addition, it can be understood that the program code read from the storage medium is written into a memory provided in an expansion board inserted into the computer or into a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0175] It should be noted that not all steps and modules in the above-mentioned processes and device structure diagrams are necessary, and certain steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by certain components in multiple independent devices. Among them, the above-mentioned cable arrangement control device and cable arrangement control method are based on the same inventive concept.

[0176] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0177] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the scope of protection of the present invention.

Claims

1. A method for controlling cable routing, characterized in that: include: Get the wiring parameters of the cable to be wired; Determining a first arranging speed for arranging the cable to be arranged according to the arranging parameters; Determine the reversing distance of the wire tracing shaft; wherein the reversing distance is used to characterize the wire tracing distance of the wire tracing shaft in the reversing process; Detecting the current position of the cable spool to obtain actual position information; Determine the distance between the actual position and the edge position of the cable spool according to the actual position information and the edge position information of the cable spool; Calculating the ratio of the distance to the reversing distance to obtain the line speed coefficient; Correcting the first linear speed using the linear speed coefficient to obtain a second linear speed; The cable arranging shaft is controlled to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed.

2. The method according to claim 1, characterized in that The cable arrangement parameters include the rotation speed of the winding shaft, the number of cables n spun by the winding shaft, and the total cable width of the n cables; wherein the cables to be arranged are controlled by the winding shaft to be arranged on the winding shaft; The step of determining a first arranging speed for arranging the cable to be arranged according to the arranging parameters includes: The first row linear velocity is calculated using the following formula: v1=(vs×R×n×ω) / 60 Among them, v1 is used to represent the first row of linear speed, v s It is used to characterize the rotation speed of the reel, R is used to characterize the total cable width, and ω is used to characterize the winding ratio of the cable arrangement device.

3. The method according to claim 1, characterized in that The step of determining the reversing distance of the cable spool comprises: Obtaining the coordinates of the reversing position of the reversing mark and the edge position coordinates of the edge of the cable spool; wherein the reversing mark is used to indicate the starting position of the cable spool entering the reversing distance, and the edge of the cable spool is used to indicate the farthest position that the cable spool can move to relative to the starting position; The difference between the edge position coordinate and the reversing position coordinate is calculated to obtain the reversing distance of the cable axis.

4. The method according to claim 1, wherein The step of correcting the first arranging line speed by using the arranging line speed coefficient to obtain the second arranging line speed includes: The product of the first row line speed and the row line speed coefficient is calculated to obtain the second row line speed.

5. The method according to any one of claims 1 to 4, characterized in that The step of controlling the cable arranging shaft to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed includes: When the cable traversing shaft is located between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the second traversing speed; wherein the distance between the reversing mark and the edge of the cable traversing shaft is the reversing distance; When the cable traversing shaft is not between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the first traversing speed.

6. A cable arrangement control device, characterized in that: include: Wire arrangement parameter acquisition module, first wire arrangement speed determination module, reversing distance determination module, second wire arrangement speed determination module and wire arrangement control module; The wiring parameter acquisition module is configured to obtain the wiring parameters of the cable to be wired; The first wiring speed determining module is configured to determine a first wiring speed for wiring the cable to be wired according to the wiring parameters acquired by the wiring parameter acquiring module; The reversing distance determining module is configured to determine the reversing distance of the cable traversing shaft; wherein the reversing distance is used to represent the cable traversing distance of the cable traversing shaft in the reversing process; The second row of linear speed determination modules is configured to perform the following operations: Detecting the current position of the cable spool to obtain actual position information; Determine the distance between the actual position and the edge position of the cable spool according to the actual position information and the edge position information of the cable spool; Calculating the ratio of the distance to the reversing distance to obtain the line speed coefficient; Correcting the first linear speed using the linear speed coefficient to obtain a second linear speed; The cable arrangement control module is configured to control the cable arrangement shaft to arrange the cable to be arranged according to the first cable arrangement speed determined by the first cable arrangement speed determination module and the second cable arrangement speed determined by the second cable arrangement speed determination module.

7. The device according to claim 6, characterized in that The cable arrangement parameters include the rotation speed of the winding shaft, the number of cables n spun by the winding shaft, and the total cable width of the n cables; wherein the cables to be arranged are controlled by the winding shaft to be arranged on the winding shaft; When determining the first arranging speed for arranging the cable to be arranged according to the arranging parameters, the first arranging speed determining module is configured to perform the following operations: The first row linear velocity is calculated using the following formula: v1=(vs×R×n×ω) / 60 Among them, v1 is used to represent the first row of linear speed, v s It is used to characterize the rotation speed of the reel, R is used to characterize the cable width, and ω is used to characterize the winding ratio of the cable arrangement device.

8. The device according to claim 6, characterized in that The reversing distance determining module is configured to perform the following operations when determining the reversing distance of the cable spool: Obtaining the coordinates of the reversing position of the reversing mark and the edge position coordinates of the edge of the cable spool; wherein the reversing mark is used to indicate the starting position of the cable spool entering the reversing distance, and the edge of the cable spool is used to indicate the farthest position that the cable spool can move to relative to the starting position; The difference between the edge position coordinate and the reversing position coordinate is calculated to obtain the reversing distance of the cable axis.

9. The device according to claim 6, characterized in that When the second linear speed determination module corrects the first linear speed using the linear speed coefficient to obtain the second linear speed, the second linear speed determination module is configured to perform the following operations: The product of the first row line speed and the row line speed coefficient is calculated to obtain the second row line speed.

10. The device according to any one of claims 6 to 9, characterized in that When the cable arranging control module controls the cable arranging shaft to arrange the cable to be arranged according to the first cable arranging speed and the second cable arranging speed, the cable arranging control module is configured to perform the following operations: When the cable traversing shaft is located between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the second traversing speed; wherein the distance between the reversing mark and the edge of the cable traversing shaft is the reversing distance; When the cable traversing shaft is not between the reversing mark and the edge of the cable traversing shaft, the cable traversing shaft is controlled to traverse the cable at the first traversing speed.

11. A computing device, characterized in that include: at least one memory and at least one processor; The at least one memory is configured to store a machine-readable program; The at least one processor is configured to call the machine-readable program to execute the method according to any one of claims 1 to 5.

12. A computer-readable medium, characterized in that The computer-readable medium stores computer instructions, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 5.

13. Computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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