A motorized integrated cable reel device and cable winding method

Abstract

This invention relates to a motorized integrated cable reel device and a cable winding and unwinding method. The motorized integrated cable reel device includes a chassis traveling mechanism, a mounting bracket, a cable reel, a cable reel drive mechanism, and a chassis drive mechanism. The chassis traveling mechanism is mounted on both outer sides of the mounting bracket along its axial direction. The cable reel is rotatably connected to the mounting bracket via support bearings along its axial direction. The cable reel drive mechanism is installed inside the cable reel and drives it to rotate. The chassis drive mechanism is mounted on both inner sides of the mounting bracket, and its drive end is connected to the corresponding chassis traveling mechanism, driving the chassis traveling mechanism to move. This invention addresses the problems of numerous interconnected power cables and long communication optical cable distances in equipment systems, as well as the time-consuming and labor-intensive manual winding and unwinding. It integrates the UAV automation platform with an electric cable reel design, achieving automatic cable winding and unwinding and rational cable layout without altering the existing equipment structure, saving time and manpower.

Description

Technical Field

[0001] This invention relates to the field of cable winding and unwinding technology, specifically to a motorized integrated cable reel device and a cable winding and unwinding method. Background Technology

[0002] Multi-domain, three-dimensional warfare is one of the main forms of future warfare. To cope with the rapidly changing and complex battlefield environment of multi-domain warfare, improving the mobility and intelligence of weapon systems is crucial. In field weapon systems, as the scale of equipment systems continues to increase, the number of interconnecting cables between individual equipment workshops increases. This leads to problems such as a large number of power cables in the workshops, heavy loads, chaotic and easily confused laying, long distances for fiber optic cable laying, and time-consuming and labor-intensive manual deployment and retrieval, which greatly restricts the mobility of weapon systems.

[0003] An unmanned platform is a transportation platform that is autonomous, semi-autonomous, or remotely controlled, with intelligent information processing and communication technologies at its core. Unmanned platforms can achieve autonomous cable transfer and reeling; however, the parallel reeling and reeling of multiple cables requires the coordination of multiple unmanned platforms. Transporting multiple unmanned platforms with the equipment necessitates changes to the existing equipment system structure and layout. Furthermore, the on-site assembly and disassembly of the unmanned platforms and cable reels consumes significant manpower and time. Summary of the Invention

[0004] In order to solve one or more technical problems existing in the prior art, the present invention provides a motorized integrated cable reel device and a cable winding and unwinding method.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A motorized integrated winding reel device includes a chassis traveling mechanism, a mounting bracket, a winding drum, a winding drum driving mechanism, and a chassis driving mechanism. The chassis traveling mechanism is respectively installed on the two outer sides of the mounting bracket along the axial direction. The winding drum is rotatably connected to the mounting bracket along the axial direction of the mounting bracket through a support bearing. The winding drum driving mechanism is installed in the winding drum and drives the winding drum to rotate. The chassis driving mechanism is respectively installed on the two inner sides of the mounting bracket. The driving ends of the chassis driving mechanisms are respectively connected to the corresponding chassis traveling mechanisms and drive the chassis traveling mechanisms to move.

[0006] The beneficial effects of the present invention are as follows: The motorized integrated cable reel device of the present invention can address the problems of a large number of interconnecting power cables for individual equipment vehicles in the equipment system, long communication optical cable distances, and time-consuming and labor-intensive manual cable winding and unwinding. It integrates the UAV automation platform with the electric cable reel design, and can realize automatic cable winding and unwinding and reasonable layout without changing the existing equipment structure, thus saving time and manpower.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the chassis drive mechanism includes a drive motor and a reducer. The drive motor is installed inside the support cover on both inner sides of the mounting bracket. The power output end of the drive motor is connected to the power input end of the reducer, and the power output end of the reducer is connected to the chassis walking mechanism.

[0009] Furthermore, the winding drum includes multiple coaxial and threadedly connected drum bodies, and the winding drum drive mechanism includes a direct-drive external rotor motor. The rotor part of the direct-drive external rotor motor is mounted on the inner side wall of one of the drum bodies through a rotor flange, and the stator part of the direct-drive external rotor motor is mounted on the mounting bracket through a stator flange.

[0010] The beneficial effect of adopting the above-mentioned further solution is that by using stator flanges and rotor flanges, the rotor and stator of the direct-drive external rotor motor can be effectively installed and fixed.

[0011] Furthermore, the direct-drive external rotor motor is located between the two chassis drive mechanisms, and the direct-drive external rotor motor is arranged at intervals with the two chassis drive mechanisms respectively.

[0012] The beneficial effects of adopting the above-mentioned further solutions are: to ensure that there is no interference between the direct-drive external rotor motor and the chassis drive mechanism, and to achieve a reasonable structural layout.

[0013] Furthermore, the chassis traveling mechanism includes a pair of triangular track assemblies, with one triangular track assembly on each side of the mounting bracket along its axial direction.

[0014] Furthermore, the inner side of the mounting bracket is provided with a transmission rod and a sliding rod. The two ends of the transmission rod are rotatably connected to the mounting bracket, and the two ends of the sliding rod are fixed to the mounting bracket. Both the sliding rod and the transmission rod are arranged parallel to the axis of the winding drum. A cable guide is slidably mounted on the sliding rod. The transmission rod passes through the cable guide and is drivenly connected to the cable guide. A transmission sprocket is mounted on the transmission rod, and a toothed ring is mounted on the outer circumference of the winding drum. The transmission sprocket is drivenly connected to the toothed ring.

[0015] The beneficial effects of adopting the above-mentioned further solution are: the slide bar can provide structural support for the installation of the cable guide, and the transmission rod can transmit the power of the cable reel to the cable guide to achieve synchronous movement.

[0016] Furthermore, the top of the mounting bracket is provided with a horizontally arranged mounting platform, on which a navigation and positioning control system, a battery, and an industrial control computer are mounted. The industrial control computer is electrically connected to the navigation and positioning control system, the battery, the cable reel drive mechanism, and the chassis drive mechanism, respectively. The mounting platform is provided with a protective cover.

[0017] The navigation and positioning control system includes a satellite-inertial navigation system, radar, industrial control computer, camera, and communication module. The battery is electrically connected to the satellite-inertial navigation system, radar, industrial control computer, communication module, camera, cable reel drive mechanism, and chassis drive mechanism. A cable tension sensor is also provided at the cable outlet of the cable reel to detect the tension force during cable laying. The cable tension sensor is electrically connected to the industrial control computer. The camera is electrically connected to both the communication module and the industrial control computer.

[0018] A cable winding and unwinding method, implemented using the aforementioned motorized integrated cable reel device, includes the following steps:

[0019] When satellite communication is normal, switch the working mode to automatic map capture and zoom-out;

[0020] In the automatic mapping and deployment mode, based on the data collected by the satellite combined inertial navigation, radar, and motor encoder on the chassis drive mechanism, a global map of the preset work area and a local map containing the motorized integrated reel are established.

[0021] Cable laying path planning: Based on the global map and local map, the cable laying path is planned according to the parallel principle of multiple motorized integrated cable reel devices;

[0022] Coordinated control of chassis travel mechanism and cable reel: Based on the cable laying path, a model predictive control algorithm is used to enable the chassis drive mechanism to control the chassis travel mechanism to run according to the planned cable laying path. At the same time, based on the cable tension sensor, the rotation speed of the cable reel and the running speed of the chassis travel mechanism are coordinated and controlled.

[0023] After multiple motorized integrated cable reel devices move to the first preset position, based on the end markers of the planned cable laying path, they use cameras to identify the end markers or radar to send identification signals to the end markers to correct their position.

[0024] The beneficial effects of the present invention are: the cable retraction and extension method of the present invention can realize the automatic and rapid retraction and extension of various cables when satellite communication is normal.

[0025] A cable winding and unwinding method is implemented using the aforementioned motorized integrated cable reel device, including winding and unwinding of power cables over short distances.

[0026] When the satellite is denied, the operating mode is switched to automatic directional deployment and retrieval;

[0027] In the directional automatic winding and unwinding working mode, based on the fixed positional relationship between the cable winding and unwinding start and end points within the preset working area, the target direction and target distance are preset in the industrial control computer of each motorized integrated winding reel device, and the motorized integrated winding reel device moves according to the preset target direction and target distance;

[0028] Coordinated control of chassis travel mechanism and cable reel: During the movement of the motorized integrated cable reel device, obstacle avoidance is achieved through radar and the coordinated operation of multiple motorized integrated cable reel devices; at the same time, coordinated control of the cable reel rotation speed and chassis travel mechanism running speed is achieved based on cable tension sensors.

[0029] Position Correction: After multiple motorized integrated cable reel devices move to the second preset position, based on the end marker of the planned cable laying path, the device identifies the end marker through a camera or sends an identification signal to the end marker through radar to correct the position.

[0030] The beneficial effects of the present invention are: the cable retraction and deployment method of the present invention can realize the self-rapid retraction and deployment of short-distance power cables when satellite rejection occurs.

[0031] A cable winding and unwinding method is implemented using the aforementioned motorized integrated cable reel device, including methods for winding and unwinding long-distance communication optical cables.

[0032] When the satellite is denied, the cable retraction and extension can be remotely controlled via camera.

[0033] The beneficial effects of the present invention are: the cable winding and unwinding method of the present invention can also realize the rapid winding and unwinding of long-distance communication optical cables when satellite rejection occurs. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the motorized integrated winding reel device of the present invention;

[0035] Figure 2 This is a cross-sectional view of the motorized integrated winding reel device of the present invention.

[0036] The attached diagram lists the components represented by each number as follows:

[0037] 1. Triangular track assembly;

[0038] 2. Mounting bracket; 21. Protective cover; 22. Slide rod; 23. Drive sprocket; 25. Drive rod; 26. Support cover; 27. Support rod; 28. Support bearing;

[0039] 3. Cable spool;

[0040] 4. Drive motor; 41. Reducer;

[0041] 5. Direct-drive external rotor motor; 51. Rotor flange; 52. Stator flange;

[0042] 6. Satellite inertial navigation system; 61. Radar; 62. Industrial control computer; 63. Camera; 64. Battery; 65. Communication module; 7. Cable tray; 8. Cable. Detailed Implementation

[0043] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0044] like Figure 1 and Figure 2 As shown, a motorized integrated cable reel device of this embodiment includes a chassis traveling mechanism, a mounting bracket 2, a cable reel 3, a cable reel drive mechanism, and a chassis drive mechanism. The chassis traveling mechanism is respectively installed on the two outer sides of the mounting bracket 2 along the axial direction. The cable reel 3 is rotatably connected to the mounting bracket 2 along the axial direction of the mounting bracket 2 via a support bearing 28. The cable reel drive mechanism is installed in the cable reel 3 and drives the cable reel 3 to rotate. The chassis drive mechanism is respectively installed on the two inner sides of the mounting bracket 2. The drive end of the chassis drive mechanism is respectively connected to the corresponding chassis traveling mechanism and drives the chassis traveling mechanism to move.

[0045] In this embodiment, the cable reel is integrated with the chassis traveling mechanism to form a movable cable reel. The cable reel is arranged on the equipment vehicle and moves with the vehicle. When wiring is required for site deployment, the cable is automatically laid according to the site location of the equipment vehicle.

[0046] like Figure 2 As shown, the chassis drive mechanism in this embodiment includes a drive motor 4 and a reducer 41. The drive motor 4 is installed inside the support cover 26 on both inner sides of the mounting bracket 2. The power output end of the drive motor 4 is connected to the power input end of the reducer 41, and the power output end of the reducer 41 is connected to the chassis walking mechanism.

[0047] like Figure 2 As shown, the cable reel in this embodiment includes multiple coaxial and threadedly connected cylinders. The cable reel drive mechanism includes a direct-drive external rotor motor 5. The rotor portion of the direct-drive external rotor motor 5 is mounted on the inner wall of one of the cylinders via a rotor flange 51, and the stator portion of the direct-drive external rotor motor 5 is mounted on the mounting bracket 2 via a stator flange 52. Using the stator flange and rotor flange, the rotor and stator of the direct-drive external rotor motor can be effectively installed and fixed.

[0048] like Figure 2As shown, in this embodiment, the direct-drive external rotor motor 5 is located between two chassis drive mechanisms, and the direct-drive external rotor motor is arranged at intervals with each of the two chassis drive mechanisms. This ensures that there is no interference between the direct-drive external rotor motor and the chassis drive mechanisms, resulting in a reasonable structural layout.

[0049] like Figure 1 As shown, the chassis running mechanism in this embodiment includes a pair of triangular track assemblies 1, with one triangular track assembly 1 on each side of the mounting bracket 2 along its axial direction. Specifically, as... Figure 1 and Figure 2 As shown, in this embodiment, the triangular track assembly 1 is mounted on both sides of the mounting bracket 2 via support rods 27. The triangular track assembly 1 is existing equipment and can be directly purchased commercially.

[0050] like Figure 1 As shown, in this embodiment, the mounting bracket 2 has a transmission rod 25 and a sliding rod 22 on its outer side. Both ends of the transmission rod 25 are rotatably connected to the mounting bracket 2, and both ends of the sliding rod 22 are fixed to the mounting bracket 2. Both the sliding rod 22 and the transmission rod 25 are arranged parallel to the axis of the winding drum 3. A cable guide 7 is slidably mounted on the sliding rod 22. The transmission rod 25 passes through the cable guide 7 and is drively connected to it (e.g., by a threaded connection). A transmission sprocket 23 is mounted on the transmission rod 25, and a toothed ring is provided on the outer periphery of the winding drum 3. The transmission sprocket 23 is drively connected to the toothed ring. The sliding rod provides structural support for the installation of the cable guide, and the transmission rod transmits the power of the winding drum to the cable guide, achieving synchronous movement.

[0051] like Figure 1 As shown, the mounting bracket 2 in this embodiment has a horizontally arranged mounting platform on its top. The mounting platform is equipped with a navigation and positioning control system, a battery 64, and an industrial control computer 62. The industrial control computer 62 is electrically connected to the navigation and positioning control system, the battery 64, the cable reel drive mechanism, and the chassis drive mechanism. The mounting platform is equipped with a protective cover 21. The navigation and positioning control system includes a satellite inertial navigation system 6, a radar 61, an industrial control computer 62, a camera 63, and a communication module 65. The battery 64 is electrically connected to the satellite inertial navigation system 6, the radar 61, the industrial control computer 62, the communication module 65, the camera 63, the cable reel drive mechanism, and the chassis drive mechanism. The cable tension sensor is also provided at the cable outlet of the cable reel 3 to detect the tension force during cable laying. The cable tension sensor is electrically connected to the industrial control computer 62. The camera 63 is electrically connected to the communication module 65 and the industrial control computer 62.

[0052] The mobile integrated cable reel device of this embodiment addresses the problems of numerous interconnecting power cables and long communication optical cable distances among various equipment vehicles in the equipment system, as well as the time-consuming and labor-intensive manual cable winding and unwinding. It integrates the UAV automation platform with the electric cable reel design, enabling automatic cable winding and unwinding and rational layout without changing the existing equipment structure, thus saving time and manpower.

[0053] This embodiment also provides a cable winding and unwinding method, which is implemented using the aforementioned motorized integrated cable reel device, and includes the following steps:

[0054] When satellite communication is normal, switch the working mode to automatic map capture and zoom-out;

[0055] In the automatic mapping and deployment mode, based on the data collected by the satellite combined inertial navigation, radar, and motor encoder on the chassis drive mechanism, a global map of the preset work area and a local map containing the motorized integrated reel are established.

[0056] In this embodiment, both the global map and the local map are created using existing technologies.

[0057] Specifically, after the mobile integrated reel device starts, based on the BeiDou satellite positioning system, its own starting pose is used as the initial pose, and it immediately begins collecting surrounding environmental data, building an environmental map with itself as the origin. This map is the global map. Subsequently, during operation, the mobile integrated reel device relies on the odometer information from the drive motor and the IMU in the satellite-integrated inertial navigation system to predict its pose, while simultaneously using point cloud data of the surrounding environment obtained by lidar to create a local map of the current location. It also performs feature point matching from local and global feature information obtained from various sensor data. This initial pose information and the matched information are input into the pose estimation algorithm to estimate the robot's pose at the new location, enabling the mobile robot to self-localize at the new location. After feature point matching is complete, the observed values ​​are used to update the corresponding feature values ​​for data association. After association, combined with self-localization, the newly observed feature values ​​are updated in the global map features, updating the global map. The entire machine then continues to move forward, collecting information and continuously building detailed local maps of its surroundings, matching these local maps with the global map to update the global map.

[0058] Cable laying path planning: Based on global and local maps, the cable laying path is planned according to the parallel principle of multiple motorized integrated cable reels. Commonly used traditional algorithms can be implemented in this step, and there is no difference for this system. Examples include Dijkstra's algorithm, A* algorithm, D* algorithm, and artificial potential field method. Any of these algorithms can be preset in the industrial control computer for path planning. However, this method relies on the parallel operation of multiple motorized integrated cable reels and information sharing among them.

[0059] Specifically, taking the joint operation of three mobile integrated reel devices as an example, path planning models for a navigator and a follower are constructed respectively. The navigator path planning model is constructed in two parts: offline global path planning and online local path planning. The coordinate relationship between the starting point and the target point of each mobile integrated reel on the field is pre-defined within the system. Based on the known locations of some obstacles on the field using a global map, path finding is performed using an algorithm (such as the A-star algorithm) to obtain the target point for the global path planning. Each path point is used as the target point for each segment of the local path planning. During the movement, information about the field environment, the navigator itself, and other mobile integrated reels is perceived through multi-source sensors. Online path planning based on reinforcement learning is performed (during which the local map is updated to the global map in real time) to complete obstacle avoidance and path finding tasks. The follower path planning model uses a path planning algorithm based on reinforcement learning for path planning. To complete the following task, the follower mobile integrated reel uses the navigator's trajectory points as a reference. It senses information about the external environment, its own status, and that of other mobile integrated reels through multi-source sensors, especially the distances between reels and their individual positions. It then performs online path planning based on reinforcement learning to complete following, obstacle avoidance, and a certain degree of formation work. The navigator and follower identities can be arbitrarily set, but once one vehicle is identified as the navigator, the other mobile integrated reels are automatically identified as followers.

[0060] Coordinated control of the chassis traveling mechanism and the cable reel 3: Based on the cable laying path, a model predictive control algorithm is used to enable the chassis drive mechanism to control the chassis traveling mechanism to run according to the planned cable laying path. Simultaneously, coordinated control of the cable reel 3 rotation speed and the chassis traveling mechanism's running speed is based on the cable tension sensor. The basic principle of coordinated control is to ensure that the cable winding speed (determined by the cable reel rotation speed) is greater than the chassis running speed. When the cable tension sensor detects that the force on the cable exceeds a predetermined value, the cable reel rotation speed is first increased. If the cable tension sensor returns to normal, the increased rotation speed is maintained for a period before returning to the original speed. If the cable tension sensor detects no change in force, the chassis running speed is reduced for a period before returning to the original speed, always ensuring that the tension sensor does not exceed the preset peak value. The specific peak force, speed, and time values ​​need to be determined experimentally.

[0061] Specifically, the matching relationship between the rotation speed of the cable reel and the travel speed of the motorized integrated cable reel device is preset in advance (especially as the cable reel is wound up and unwound, the diameter of the cable reel gradually decreases, and the rotation speed of the cable reel should be increased while the travel speed of the motorized integrated cable reel device remains constant). During travel, the tension force received by the cable is detected in real time by a cable tension sensor. If the detected tension force is greater than the first preset value in the industrial control computer (e.g., 60% of the maximum tension that a standard cable can withstand), the cable winding and unwinding speed is increased (by adjusting the rotation speed of the cable reel). If the cable tension force is detected to return to normal after a certain period of time, the cable winding and unwinding speed is restored to the matching value of the current travel speed. If the cable tension force is detected to still not return to normal after a certain period of time, the platform travel speed is reduced. After the tension sensor detects that the tension force has returned to normal, the motorized integrated cable reel device is restored to its original travel speed. If, during operation, the cable tension sensor detects a sharp increase in the tension on the cable and it approaches the second preset value (e.g., 80% of the maximum tension a standard cable can withstand), the machine will stop and an alarm will sound. The entire platform requires continuous coordinated control during operation to prevent uncontrollable cable tension, which could damage the cable.

[0062] Position Correction: After multiple mobile integrated cable reel devices reach the first preset position, based on the end markers of the planned cable laying path, the camera 63 identifies the end markers or the radar 61 sends an identification signal to the end markers for position correction until the device reaches the preset deviation range of the end docking position of the cable laying path, thus enabling manual docking of the mobile integrated cable reel devices. The correction process is divided into QR code position correction and laser reflector position correction. The QR code position correction process involves the camera scanning the QR code affixed to the target location on the side of the equipment vehicle when the laser SLAM navigation locates the approximate target point. By parsing the QR code information and combining it with inertial navigation, the position and attitude of the integrated cable reel are obtained and adjusted. The laser reflector position correction process involves the laser beam emitted by the laser radar being directly reflected back by the reflector affixed to the target location on the side of the equipment vehicle when the navigation locates the approximate target point. This triggers the controller to record the angle at which the laser beam encounters the reflector. The controller then matches these angle values ​​with the actual position of the reflector to calculate the absolute coordinates of the integrated cable reel. The first preset position is the position where the camera can begin to identify the end marker.

[0063] The cable retraction and deployment method of this embodiment enables the rapid and automatic retraction and deployment of various cables when satellite communication is normal. Due to the characteristics of current equipment, power cables for interconnecting individual equipment vehicles are relatively short, while only communication fiber optic cables are used for long distances. Cable connections are typically numerous and heavy, and individual equipment vehicles usually carry generators for long-distance connections. Individual fiber optic cables for short distances are lighter, making manual retraction and deployment faster and more convenient. Therefore, the cable retraction and deployment method of this embodiment is generally applicable to two scenarios: short-distance power cable retraction and deployment in a workshop, and long-distance communication fiber optic cable retraction and deployment in a workshop.

[0064] This embodiment also provides a cable winding and unwinding method, which is implemented using the above-mentioned motorized integrated cable reel device, including winding and unwinding of power cables over short distances;

[0065] When the satellite is denied (satellite communication is abnormal, or no satellite signal is received), the operating mode switches to directional automatic reel-and-reel. The characteristic of this mode is that, due to satellite denial, the mobile integrated reel device cannot obtain the relative positional relationship between the starting point and the target point, and can only travel at a preset angle and distance. The 3D point cloud data established by the lidar during travel is mainly used for obstacle avoidance. (The relative positional relationship between the main equipment vehicle and other auxiliary equipment vehicles on the field is fixed).

[0066] In the directional automatic winding and unwinding working mode, based on the fixed positional relationship between each motorized integrated winding reel device, the target direction and target distance are preset in the industrial control computer 62 of each motorized integrated winding reel device, and the motorized integrated winding reel device moves according to the preset target direction and target distance;

[0067] Coordinated control of chassis walking mechanism and reel: During the movement of the motorized integrated reel device, obstacle avoidance is achieved through radar 61 and the coordinated operation of multiple motorized integrated reel devices; at the same time, the rotation speed of reel 3 and the running speed of chassis walking mechanism are coordinated based on cable tension sensor; the coordinated control process when the satellite is in a denied state and the coordinated control process when communication with the above-mentioned satellite is normal will not be described here.

[0068] Position Correction: After multiple mobile integrated cable reel devices reach the second preset position, based on the end markers of the planned cable laying path, the camera 63 identifies the end markers or the radar 61 sends an identification signal to the end markers to perform position correction. The position correction process when the satellite is denied access, and the position correction process when communication with the satellite is normal, will not be described in detail here. The second preset position is the location where the camera can begin to identify the end markers. The second preset position and the first preset position can be the same location or different locations.

[0069] The cable retraction and deployment method of this embodiment can enable the rapid and automatic retraction and deployment of short-distance power cables when satellite rejection occurs.

[0070] This embodiment also provides a cable winding and unwinding method, which is implemented using the above-mentioned motorized integrated cable reel device, including winding and unwinding of communication optical cables over long distances;

[0071] When the satellite is denied access, the cable deployment and retraction are remotely controlled via camera 63. Since fiber optic cables are typically laid over long distances, remote control provides general directional control, while the camera enables manual obstacle avoidance. The controller can be handheld or integrated into a control vehicle, allowing for remote control by the main operator without the need for assistance from others.

[0072] Specifically, the typical fiber optic cable laying distance is several kilometers. The direction of travel of the motorized integrated cable reel is adjusted via remote control. The camera on the motorized integrated cable reel allows for manual obstacle avoidance (the content captured by the camera on the motorized integrated cable reel is transmitted in real time to the operator's handheld remote control device or to the display console of the control vehicle). The travel speed of the motorized integrated cable reel and the cable winding speed of the reel are still the same as those of a self-propelled cable winding system, and are automatically coordinated and controlled according to a preset program (the specific coordination and control process is the same as the coordination and control process when satellite communication is normal, and will not be described in detail here).

[0073] When the equipment system is in extreme weather or complex conditions, making automatic winding and unwinding of the motorized integrated cable reel difficult, the operating mode can be switched to video remote control. When power is insufficient or video remote control is difficult, a manual handle can be added to the front of the motorized integrated cable reel, switching the operating mode to manual winding and unwinding. The cable can be wound or unwound by manually pulling the handle, which moves the entire reel. The power source for the entire machine can be a battery or a small generator.

[0074] The cable deployment and retraction method in this embodiment can also enable the rapid deployment and retraction of long-distance communication optical cables when satellite rejection occurs.

[0075] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for cable winding and unwinding, characterized in that, This is achieved using a motorized integrated cable reel device. The motorized integrated cable reel device includes a chassis traveling mechanism, a mounting bracket, a cable reel, a cable reel drive mechanism, and a chassis drive mechanism. The chassis traveling mechanism is mounted on both outer sides of the mounting bracket along its axial direction. The cable reel is rotatably connected to the mounting bracket via support bearings. The cable reel drive mechanism is installed inside the cable reel and drives its rotation. The chassis drive mechanism is mounted on both inner sides of the mounting bracket, and its drive end is connected to the corresponding chassis traveling mechanism, driving its movement. A horizontally arranged mounting platform is provided on the top of the mounting bracket. The platform is equipped with a navigation and positioning control system, a battery, and an industrial control computer. The industrial control computer is electrically connected to the navigation and positioning control system, the battery, the cable reel drive mechanism, and the chassis drive mechanism. A protective cover is provided on the mounting platform. The navigation and positioning control system includes a satellite inertial navigation system, radar, an industrial control computer, a camera, and a communication module. The battery is electrically connected to the satellite inertial navigation system, radar, industrial control computer, communication module, camera, cable reel drive mechanism, and chassis drive mechanism. A cable tension sensor is also provided at the cable outlet of the cable reel to detect the tension force during cable laying. The cable tension sensor is electrically connected to the industrial control computer. The camera is electrically connected to the industrial control computer and the communication module. The cable winding and unwinding method includes the following steps: When satellite communication is normal, switch the working mode to automatic map capture and zoom-out; In the automatic mapping and deployment mode, based on the data collected by the satellite combined inertial navigation, radar, and motor encoder on the chassis drive mechanism, a global map of the preset work area and a local map containing the motorized integrated reel are established. Cable laying path planning: Based on the global map and local map, the cable laying path is planned according to the parallel principle of multiple motorized integrated cable reel devices; Coordinated control of chassis travel mechanism and cable reel: Based on the cable laying path, a model predictive control algorithm is used to enable the chassis drive mechanism to control the chassis travel mechanism to run according to the planned cable laying path. At the same time, based on the cable tension sensor, the rotation speed of the cable reel and the running speed of the chassis travel mechanism are coordinated and controlled. After multiple motorized integrated cable reel devices move to the first preset position, based on the end markers of the planned cable laying path, they use cameras to identify the end markers or radar to send identification signals to the end markers to correct their position.

2. A method for cable winding and unwinding, characterized in that, This is achieved using a motorized integrated cable reel device. The motorized integrated cable reel device includes a chassis traveling mechanism, a mounting bracket, a cable reel, a cable reel drive mechanism, and a chassis drive mechanism. The chassis traveling mechanism is mounted on both outer sides of the mounting bracket along its axial direction. The cable reel is rotatably connected to the mounting bracket via support bearings. The cable reel drive mechanism is installed inside the cable reel and drives its rotation. The chassis drive mechanism is mounted on both inner sides of the mounting bracket, and its drive end is connected to the corresponding chassis traveling mechanism, driving its movement. A horizontally arranged mounting platform is provided on the top of the mounting bracket. The platform is equipped with a navigation and positioning control system, a battery, and an industrial control computer. The industrial control computer is electrically connected to the navigation and positioning control system, the battery, the cable reel drive mechanism, and the chassis drive mechanism. A protective cover is provided on the mounting platform. The navigation and positioning control system includes a satellite inertial navigation system, radar, an industrial control computer, a camera, and a communication module. The battery is electrically connected to the satellite inertial navigation system, radar, industrial control computer, communication module, camera, cable reel drive mechanism, and chassis drive mechanism. A cable tension sensor is also provided at the cable outlet of the cable reel to detect the tension force during cable laying. The cable tension sensor is electrically connected to the industrial control computer. The camera is electrically connected to the industrial control computer and the communication module. Cable routing methods include routing power cables for short distances and routing communication optical cables for long distances; When the satellite is denied, the operating mode is switched to automatic directional deployment and retrieval; In the directional automatic winding and unwinding working mode, based on the fixed positional relationship between the cable winding and unwinding start and end points within the preset working area, the target direction and target distance are preset in the industrial control computer of each motorized integrated winding reel device, and the motorized integrated winding reel device moves according to the preset target direction and target distance; Coordinated control of chassis travel mechanism and cable reel: During the movement of the motorized integrated cable reel device, obstacle avoidance is achieved through radar and the coordinated operation of multiple motorized integrated cable reel devices; at the same time, coordinated control of the cable reel rotation speed and chassis travel mechanism running speed is achieved based on cable tension sensors. Position Correction: After multiple motorized integrated cable reel devices move to the second preset position, based on the end marker of the planned cable laying path, the end marker is identified by a camera or an identification signal is sent to the end marker by radar to correct the position. Alternatively, when the satellite is denied, the cable retraction and extension can be remotely controlled via camera through video.

3. A cable winding and unwinding method according to claim 1 or 2, characterized in that, The chassis drive mechanism includes a drive motor and a reducer. The drive motor is installed inside the support cover on both inner sides of the mounting bracket. The power output end of the drive motor is connected to the power input end of the reducer, and the power output end of the reducer is connected to the chassis walking mechanism.

4. A cable winding and unwinding method according to claim 1 or 2, characterized in that, The winding drum includes multiple coaxial and threadedly connected drum bodies. The winding drum drive mechanism includes a direct-drive external rotor motor. The rotor part of the direct-drive external rotor motor is mounted on the inner side wall of one of the drum bodies through a rotor flange. The stator part of the direct-drive external rotor motor is mounted on the mounting bracket through a stator flange.

5. The cable winding and unwinding method according to claim 4, characterized in that, The direct-drive external rotor motor is located between the two chassis drive mechanisms, and the direct-drive external rotor motor is arranged at intervals with the two chassis drive mechanisms respectively.

6. A cable winding and unwinding method according to claim 1 or 2, characterized in that, The chassis traveling mechanism includes a pair of triangular track assemblies, with one triangular track assembly on each side of the mounting bracket along the axial direction.

7. A cable winding and unwinding method according to claim 1 or 2, characterized in that, The inner side of the mounting bracket is provided with a transmission rod and a sliding rod. The two ends of the transmission rod are rotatably connected to the mounting bracket, and the two ends of the sliding rod are fixed to the mounting bracket. Both the sliding rod and the transmission rod are arranged parallel to the axis of the winding drum. A cable guide is slidably mounted on the sliding rod. The transmission rod passes through the cable guide and is drivenly connected to the cable guide. A transmission sprocket is provided on the transmission rod, and a toothed ring is provided on the outer circumference of the winding drum. The transmission sprocket is drivenly connected to the toothed ring.

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