A cable constant tension control method, device, equipment and medium

Abstract

The present application relates to the technical field of ship cable, and discloses a cable constant tension control method, device, equipment and medium, the control method comprises: obtaining a target tension value and a detected first tension value of the cable, wherein the target tension value is determined after the last round cable tension adjustment; according to the first tension value and the target tension value, the tension difference value is calculated; in the case that the tension difference value exceeds the preset tension deviation range, the cable winding and unwinding device is controlled to execute the cable winding action or the cable unwinding action to adjust the cable tension; obtaining the adjusted second tension value, wherein the tension difference value between the second tension value and the target tension value is within the preset tension deviation range; the second tension value is taken as the target tension value, which is used as the target tension value of the next round cable tension adjustment. The present application can accurately control the tension value of the ship cable, and can better adapt to the change of the use environment of the ship.

Description

Technical Field

[0001] This invention relates to the field of marine cable technology, specifically to a method, device, equipment, and medium for constant tension control of cables. Background Technology

[0002] When a ship uses shore power while berthed, it is typically connected to the ship via a shore power cable winch. During shore power use, the cable winch automatically extends or retracts the cable connected to the ship according to changes in the ship's position. This prevents the cable from becoming too tight or too loose due to changes in the deck level caused by high tide or unloading. If the cable is too tight, it is prone to being pulled; if the cable is too loose, it is prone to tangling.

[0003] The inventors discovered that current "constant tension control" technologies all set a fixed tension value and perform cable winding or unwinding operations based on this fixed value. This fixed value is too simplistic and cannot be adjusted according to actual conditions, easily leading to situations where the cable is either too loose or too tight even when the tension reaches the fixed value. Summary of the Invention

[0004] In view of this, the present invention provides a method, apparatus, equipment and medium for constant tension control of cables to solve the problem of cables being too tight or too loose.

[0005] In a first aspect, the present invention provides a method for controlling constant tension in a cable, comprising:

[0006] The target tension value and the first tension value of the detected cable are obtained, wherein the target tension value is determined after the previous round of cable tension adjustment;

[0007] Calculate the tension difference based on the first tension value and the target tension value;

[0008] If the tension difference exceeds the preset tension deviation range, the cable winding and unwinding equipment is controlled to perform a cable winding or unwinding action to adjust the cable tension.

[0009] Obtain the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within a preset tension deviation range;

[0010] The second tension value is used as the target tension value, which is then used as the target tension value for the next round of cable tension adjustment.

[0011] By using the tension value determined in the previous adjustment round as the target tension value, and using the tension value after the current adjustment round as the target tension value for the next adjustment round, the tension value of the cable can be judged more accurately. This allows for more precise control of the tension value of the ship's cable, ensuring that the cable tension is in a suitable state. This better adapts to changes in the ship's operating environment, resulting in strong adaptability, high reliability, high adjustment efficiency, and improved service life of the ship's cable.

[0012] In one optional implementation, controlling the cable take-up or release device to perform cable take-up or release actions to adjust cable tension includes:

[0013] Control the cable take-up or release equipment to perform cable take-up or release actions, and continue for a first preset time;

[0014] After a first preset time, determine whether the adjusted tension difference is within the preset tension deviation range;

[0015] If the adjusted tension difference exceeds the preset tension deviation range, the process returns to the step of controlling the cable take-up or release device to perform the cable take-up or release action for a first preset time, until the adjusted tension difference is within the preset tension deviation range.

[0016] By employing multiple cable reeling and unloading actions and making multiple judgments, a dynamic adjustment method is used to stabilize the tension difference between the adjusted tension value and the target tension value within a preset tension range. This not only effectively improves the precision of cable tension control but also enhances the accuracy of the next target tension value.

[0017] In one optional implementation, if the adjusted tension difference is within a preset tension deviation range, it is determined whether to continue for a second preset time; if so, the adjusted tension value is used as the second tension value. This allows for more accurate control of the ship's cable tension, ensuring the cable tension is in a suitable state, better adapting to changes in the ship's operating environment, and improving the service life of the ship's cable.

[0018] In one optional implementation, the first tension value is acquired by a first tension sensor located at the head of the cable reel-in / deel-out device, and the method further includes:

[0019] The third tension value is obtained by the second tension sensor located at the tail of the cable winding and unwinding equipment.

[0020] Adjust the output speed of the winch at the tail of the cable winding and unwinding equipment to minimize the difference between the third tension value and the first tension value; wherein the third tension value changes with the output speed.

[0021] Determine the winch output speed corresponding to the minimum difference between the third tension value and the first tension value;

[0022] The cable winding and unwinding equipment controls the tail winch to perform cable winding or unwinding actions at the winch output speed.

[0023] By employing a closed-loop control algorithm, the output speed of the winch is determined using the first tension value collected by a first tension sensor located at the head of the cable winding device and the third tension value collected by a second tension sensor located at the tail of the device. This ensures that the tension values ​​at the head and tail of the cable winding device are equal, thereby guaranteeing the safety and reliability of the cable and preventing cable tangling due to cable redundancy or cable breakage due to uneven stress.

[0024] In one alternative implementation, the method further includes:

[0025] Upon receiving the first signal sent when the winch is fully turned, the cable take-up and release equipment is controlled to stop the cable take-up action;

[0026] Upon receiving a second signal indicating that the winch has only one turn of cable remaining, the cable winding and unwinding equipment is controlled to stop unwinding the cable.

[0027] In one optional implementation, when the tension difference exceeds a preset tension deviation range, controlling the cable take-up or release device to perform a cable take-up action or a cable release action includes:

[0028] If the tension difference exceeds the preset tension deviation range and continues for a third preset time, the cable winding and unwinding equipment is controlled to perform a cable winding or unwinding action.

[0029] This can effectively prevent cable detachment or bending due to negligence of staff and untimely control, thereby reducing maintenance costs.

[0030] In one alternative implementation, the method further includes:

[0031] Obtain the current humidity and temperature of the control cabinet of the cable take-up and drop equipment;

[0032] If the current humidity exceeds a first humidity threshold and / or the current temperature is below a first temperature threshold, the control cabinet heater will be activated to heat the system.

[0033] This can effectively improve the reliability of the control cabinet and prevent corrosion and oxidation of components caused by the cable winding and unwinding equipment being in a humid environment for a long time. This can lead to abnormalities in the control cabinet, affect the operation of the cable winding and unwinding equipment, and consequently affect the stability of the ship's power supply.

[0034] Secondly, the present invention provides a cable constant tension control device, the device comprising:

[0035] The first acquisition module is used to acquire the target tension value and the detected first tension value of the cable, wherein the target tension value is determined after the previous round of cable tension adjustment;

[0036] The calculation module is used to calculate the tension difference based on the first tension value and the target tension value;

[0037] The control module is used to control the cable winding and unwinding equipment to perform cable winding or unwinding actions when the tension difference exceeds the preset tension deviation range, so as to adjust the cable tension.

[0038] The second acquisition module is used to acquire the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within a preset tension deviation range;

[0039] The replacement module is used to take the second tension value as the target tension value for the next round of cable tension adjustment.

[0040] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the cable constant tension control method of the first aspect or any corresponding embodiment described above.

[0041] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the cable constant tension control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic flowchart of a cable constant tension control method according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the cable winding and unwinding device according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram illustrating the process of determining the output speed of a winch according to an embodiment of the present invention;

[0046] Figure 4This is a structural block diagram of a cable constant tension control device according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The constant tension control method for cables provided in this embodiment is applicable to controlling the tension of charging and discharging cables when a ship is docked and using shore power. Since raising or lowering the ship's deck can affect the reliability of cable connections, controlling cable tension is crucial.

[0050] According to an embodiment of the present invention, a method for controlling constant tension of a cable is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0051] This embodiment provides a cable constant tension control method, which can be used in servers, mobile terminals, controllers, etc. Figure 1 This is a flowchart of a cable constant tension control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0052] Step S101: Obtain the target tension value and the detected first tension value of the cable, wherein the target tension value is determined after the previous round of cable tension adjustment.

[0053] When a ship uses shore power while docked, it typically connects to the shore power equipment via cable. Due to the unpredictable position of the ship, a cable reel-in / deel-out system is usually used to reel in and out the cable connecting the shore power equipment and the ship. The first tension value detected can be obtained by a tension sensor installed on the cable reel-in / deel-out system, or it can be the average of multiple tension values ​​obtained by multiple tension sensors installed on the system. Using the average tension value as the first tension value better represents the current cable tension. The target tension value can be the tension value or the average tension value determined after the previous round of cable tension adjustment. A round refers to the entire process from the start of cable tension adjustment to the end of adjustment.

[0054] Step S102: Calculate the tension difference based on the first tension value and the target tension value;

[0055] Step S103: If the tension difference exceeds the preset tension deviation range, control the cable winding and unwinding equipment to perform a cable winding action or a cable unwinding action to adjust the cable tension.

[0056] Specifically, when the first tension value is greater than the target tension value and the tension difference exceeds the preset tension deviation range, the cable winding and unwinding equipment is controlled to perform a cable unwinding action; when the target tension value is greater than the first tension value and the tension difference exceeds the preset tension deviation range, the cable winding and unwinding equipment is controlled to perform a cable winding action. This continues until the tension difference falls within the preset tension deviation range, thereby achieving adjustment of the cable tension.

[0057] Step S104: Obtain the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within the preset tension deviation range;

[0058] Step S105: The second tension value is used as the target tension value, which is then used as the target tension value for the next round of cable tension adjustment.

[0059] When the cable take-up or release device performs a cable take-up or release action, if the tension difference between the adjusted tension value and the target tension value is within the preset tension deviation range, then one round of tension adjustment is completed, and the adjusted second tension value is determined. The target tension value determined in the previous round is then changed to the second tension value, which is used as the target tension value for the next round to adjust the cable tension in the next round.

[0060] In some technologies, a fixed value is generally used as the target tension value. That is, regardless of changes in environmental factors or external forces, the same tension value is used as the target tension value. However, this fixed value is usually an empirical value. Using a fixed value as the target tension value can lead to excessive deviations in tension difference, inaccurate execution of cable winding and unwinding actions, and thus, even if the cable reaches the target tension value, the cable may still be too loose or too tight.

[0061] In this embodiment, the tension value determined in the previous round of adjustment is used as the target tension value, and the tension value after the current round of adjustment is used as the target tension value for the next round of adjustment. This allows for a more accurate judgment of the cable tension value, thereby enabling more precise control of the ship cable tension value. This ensures that the cable tension is in a suitable state, better adapting to changes in the ship's operating environment. It is not only highly adaptable and reliable but also has high adjustment efficiency, thus improving the service life of the ship cable.

[0062] In some optional implementations, step S103 above includes:

[0063] The cable take-up and release device is controlled to perform the cable take-up action or the cable release action, and this continues for a first preset time.

[0064] After the first preset time has elapsed, it is determined whether the adjusted tension difference is within the preset tension deviation range;

[0065] If the adjusted tension difference exceeds the preset tension deviation range, then return to the step of controlling the cable take-up or release device to perform the cable take-up action or the cable release action, and continue for a first preset time, until the adjusted tension difference is within the preset tension deviation range.

[0066] In this embodiment, the length of cable reeling or unreeling can be determined based on the time of cable reeling or unreeling, thereby adjusting the cable tension value within a suitable range so that the tension difference is within a preset tension deviation range.

[0067] First, the cable winding or unwinding action can be continued for a first preset time to determine whether the tension difference after the first preset time is within the preset tension deviation range. If the tension difference after the first preset time still exceeds the preset tension deviation range, the cable winding or unwinding device can be controlled to continue winding or unwinding for the first preset time, and then the adjusted tension difference can be determined again to be within the preset tension deviation range. If the adjusted tension difference is within the preset tension range, the cable tension adjustment is complete.

[0068] In this embodiment, multiple cable winding or unwinding actions are performed, and multiple judgments are made. A dynamic adjustment method is adopted to stabilize the tension difference between the adjusted tension value and the target tension value within a preset tension range. This not only effectively improves the accuracy of cable tension control, but also improves the accuracy of the next target tension value.

[0069] In some optional implementations, if the adjusted tension difference is within the preset tension deviation range, it is determined whether to continue for a second preset time.

[0070] If so, the adjusted tension value shall be used as the second tension value.

[0071] In this embodiment, when the adjusted tension difference is within a preset tension deviation range and persists for a second preset time, the adjusted tension value is taken as the second tension value. This second tension value is then used as the target tension value for the next round of cable tension adjustment. This allows for more accurate control of the ship's cable tension, ensuring the cable tension is at a suitable level, better adapting to changes in the ship's operating environment, and improving the service life of the ship's cables.

[0072] In some optional embodiments, the first tension value is acquired by a first tension sensor disposed at the head of the cable winding device. In this embodiment, the cable winding device is exemplified by the "Cable Conveying Device" disclosed in Chinese Patent Application No. "202010785567.X". Figure 2 As shown. The first tension sensor can be installed at the head of the cantilever, and the second tension sensor can be installed at the tail of the cantilever.

[0073] like Figure 3 As shown, the cable constant tension control method also includes:

[0074] Step S201: Obtain a third tension value, which is acquired by a second tension sensor located at the tail of the cable winding / unwinding device. The third tension value can be obtained by the second tension sensor located at the tail of the cable winding / unwinding device, and the second tension sensor can be located near the location where the winch is winding / unwinding the cable.

[0075] Step S202: Adjust the output speed of the tail winch of the cable winding and unwinding device so that the difference between the third tension value and the first tension value is minimized; wherein, the third tension value changes with the change of the output speed;

[0076] Step S203: Determine the winch output speed when the difference between the third tension value and the first tension value is at its minimum.

[0077] For cable winding and unwinding equipment, the winding and unwinding speed and length of the cable can be controlled by controlling the output speed of the winch on the equipment; the winding and unwinding of the cable will further change the third tension value collected by the second sensor.

[0078] Due to prolonged operation of the cable winding and unwinding equipment, excessive redundant cable or uneven cable stress may exist between the head and tail ends. This can lead to a significant difference between the tension value collected by the first tension sensor at the head end and the tension value collected by the second tension sensor at the tail end. In this case, the cable winding and unwinding operation can be performed by rotating the winch and adjusting its output speed, ensuring that the difference between the third tension value collected by the second tension sensor after winding and unwinding and the first tension value is within a preset range.

[0079] In this embodiment, after acquiring the third tension value collected by the second tension sensor and the first tension value collected by the first tension sensor, the output speed of the winch can be changed and adjusted using PID control to minimize the difference between the adjusted third tension value and the first tension value. When the difference between the first tension value and the third tension value is minimized, the corresponding output speed of the winch is determined.

[0080] Step S204: Control the tail winch of the cable take-up and release equipment to perform the cable take-up action or the cable release action at the output speed of the winch.

[0081] When a closed-loop control algorithm is used to determine the output speed of the winch, the winch of the cable winding and unwinding equipment is controlled by the output speed of the winch to achieve approximately equal or equal tension values ​​at the head and tail of the cable winding and unwinding equipment.

[0082] In this embodiment, a closed-loop control algorithm is used to determine the output speed of the winch by combining the first tension value collected by the first tension sensor located at the head of the cable winding device with the third tension value collected by the second tension sensor located at the tail of the cable winding device. This ensures that the tension values ​​at the head and tail of the cable winding device are equal, thereby guaranteeing the safety and reliability of the cable and preventing cable tangling due to cable redundancy or cable breakage due to uneven cable stress.

[0083] In some alternative implementations, the cable constant tension control method further includes:

[0084] Upon receiving the first signal sent when the winch is fully turned, the cable take-up and release device is controlled to stop the cable take-up action;

[0085] Upon receiving a second signal indicating that the winch has only one turn of cable remaining, the cable winding and unwinding device is controlled to stop unwinding the cable.

[0086] The cable can be pre-recovered using the winch in the cable winding equipment, and the first position of the rotating limit mechanism is recorded when the cable is fully wound. Alternatively, the cable can be pre-unwound using the winch, and the second position of the rotating limit mechanism is recorded when only one turn remains. That is, when the rotating limit mechanism reaches the first position, it sends a full-turn signal to the controller; when it reaches the second position, it sends a cut-off signal to the controller. The rotating limit mechanism is a mechanical limiter that operates synchronously with the winch. When the winch rotates to wind up or unwind the cable, the rotating limit mechanism rotates synchronously; when the winch stops, the rotating limit mechanism stops synchronously.

[0087] In this embodiment, when the winch reaches a full turn, it sends a full turn signal (first signal) to the controller. Upon receiving the first signal, the controller stops the cable winding / unwinding equipment from winding up the cable. When only one turn of cable remains on the winch, it sends a cutoff signal (second signal) to the controller. Upon receiving the second signal, the controller stops the cable unwinding equipment from unwinding the cable. This effectively prevents cable detachment or bending due to operator negligence and untimely control, thus reducing maintenance costs.

[0088] In some optional implementations, step S103 above includes:

[0089] If the tension difference exceeds the preset tension deviation range and continues for a third preset time, the cable take-up or release device is controlled to perform a cable take-up action or a cable release action.

[0090] In this embodiment, the cable reeling or unloading device is only controlled to perform a cable reeling or unloading action when the tension difference between the first tension value and the target tension value exceeds a preset tension deviation range and persists for a third preset time. This effectively avoids misjudgment or misoperation due to external force factors or environmental factors, thereby improving the safety and reliability of cable recovery.

[0091] In some alternative implementations, the cable constant tension control method further includes:

[0092] Obtain the current humidity and temperature of the control cabinet of the cable take-up and drop-off equipment;

[0093] If the current humidity exceeds a first humidity threshold and / or the current temperature is lower than a first temperature threshold, the control cabinet heater is controlled to heat the room.

[0094] In this embodiment, a method for regulating the temperature and humidity of the control cabinet is also added. When the humidity of the control cabinet is too high or the temperature is too low, the control cabinet heater is activated. This can effectively improve the reliability of the control cabinet and prevent corrosion and oxidation of components caused by the cable-laying equipment being in a humid environment for a long time, which could lead to malfunctions in the control cabinet, affect the operation of the cable-laying equipment, and consequently affect the stability of the ship's power supply.

[0095] This embodiment also provides a cable constant tension control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0096] This embodiment provides a cable constant tension control device, such as... Figure 4 As shown, it includes:

[0097] The first acquisition module 301 is used to acquire the target tension value and the detected first tension value of the cable, wherein the target tension value is determined after the previous round of cable tension adjustment;

[0098] Calculation module 302 is used to calculate the tension difference based on the first tension value and the target tension value;

[0099] The control module 303 is used to control the cable winding and unwinding equipment to perform cable winding or unwinding actions when the tension difference exceeds the preset tension deviation range, so as to adjust the cable tension.

[0100] The second acquisition module 304 is used to acquire the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within the preset tension deviation range.

[0101] Replacement module 305 is used to use the second tension value as the target tension value, which is then used as the target tension value for the next round of cable tension adjustment.

[0102] In this embodiment, the cable constant tension control device is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0103] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0104] This invention also provides a computer device having the above-described features. Figure 4The cable constant tension control device shown is shown.

[0105] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.

[0106] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0107] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0108] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0109] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0110] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0111] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0112] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling constant tension in a cable, characterized in that, The method includes: The target tension value and the detected first tension value of the cable are obtained, wherein the target tension value is determined after the previous round of cable tension adjustment; the first tension value is acquired by a first tension sensor installed at the head of the cable winding and unwinding equipment. Calculate the tension difference based on the first tension value and the target tension value; When the tension difference exceeds a preset tension deviation range, the cable winding and unwinding equipment is controlled to perform a winding or unwinding action to adjust the cable tension; wherein, the cable winding and unwinding equipment is controlled to perform the winding or unwinding action for a first preset time. After the first preset time has elapsed, it is determined whether the adjusted tension difference is within the preset tension deviation range. If the adjusted tension difference exceeds the preset tension deviation range, the process returns to controlling the cable take-up or release device to perform the cable take-up action or the cable release action, and continues for the first preset time until the adjusted tension difference is within the preset tension deviation range. If the adjusted tension difference is within the preset tension deviation range, it is determined whether to continue for the second preset time. If so, the adjusted tension value is taken as the second tension value. Obtain the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within the preset tension deviation range; The second tension value is used as the target tension value, which is then used as the target tension value for the next round of cable tension adjustment.

2. The method according to claim 1, characterized in that, The method further includes: A third tension value is obtained, which is acquired by a second tension sensor located at the tail of the cable take-up and release device; The output speed of the winch at the tail of the cable winding device is adjusted so that the difference between the third tension value and the first tension value is minimized; wherein, the third tension value changes with the change of the output speed; Determine the winch output speed corresponding to the minimum value of the difference between the third tension value and the first tension value; The cable winding device is controlled to perform the cable winding or cable unwinding action at the output speed of the winding.

3. The method according to claim 2, characterized in that, Also includes: Upon receiving the first signal sent when the winch is fully turned, the cable take-up and release device is controlled to stop the cable take-up action; Upon receiving a second signal indicating that the winch has only one turn of cable remaining, the cable winding and unwinding device is controlled to stop unwinding the cable.

4. The method according to claim 1, characterized in that, When the tension difference exceeds a preset tension deviation range, controlling the cable take-up or release device to perform a cable take-up or release action includes: If the tension difference exceeds the preset tension deviation range and continues for a third preset time, the cable take-up or release device is controlled to perform a cable take-up action or a cable release action.

5. The method according to claim 1, characterized in that, Also includes: Obtain the current humidity and temperature of the control cabinet of the cable take-up and drop-off equipment; If the current humidity exceeds a first humidity threshold and / or the current temperature is lower than a first temperature threshold, the control cabinet heater is controlled to heat the room.

6. A cable constant tension control device, characterized in that, The device includes: The first acquisition module is used to acquire the target tension value and the detected first tension value of the cable, wherein the target tension value is determined after the previous round of cable tension adjustment; the first tension value is acquired by a first tension sensor installed at the head of the cable winding and unwinding equipment. The calculation module is used to calculate the tension difference based on the first tension value and the target tension value; The control module is used to control the cable winding and unwinding device to perform a cable winding action or a cable unwinding action when the tension difference exceeds a preset tension deviation range, so as to adjust the cable tension; wherein, the control module includes: controlling the cable winding and unwinding device to perform the cable winding action or the cable unwinding action for a first preset time. After the first preset time has elapsed, it is determined whether the adjusted tension difference is within the preset tension deviation range. If the adjusted tension difference exceeds the preset tension deviation range, the process returns to controlling the cable take-up or release device to perform the cable take-up action or the cable release action, and continues for the first preset time until the adjusted tension difference is within the preset tension deviation range. If the adjusted tension difference is within the preset tension deviation range, it is determined whether to continue for the second preset time. If so, the adjusted tension value is taken as the second tension value. The second acquisition module is used to acquire the adjusted second tension value, wherein the tension difference between the second tension value and the target tension value is within the preset tension deviation range; The replacement module is used to take the second tension value as the target tension value, and use it as the target tension value for the next round of cable tension adjustment.

7. A computer device, characterized in that, include: The device includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the cable constant tension control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the cable constant tension control method according to any one of claims 1-5.

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