A cable winding control method

Abstract

The present invention relates to the field of cable retraction and release, and specifically to a cable winding control method. The method initially controls the winding speed of the reel through the predicted trajectory of the mobile operating equipment, and compensates the error through the error compensation device. Thereafter, the current period uses the predicted trajectory and the error compensation amount of the previous period to jointly control the cable retraction and release speed, prevent the cable tension from being too large, reduce the operating range of the mobile operating equipment, and prevent the accumulation of cables from causing increased wear between the cable and the ground, affecting the service life of the cable. At the same time, it avoids the accumulation of errors after the mobile operating equipment changes its trajectory, thereby ensuring that the required length of the cable and the winding speed are always adapted.

Description

Technical Field

[0001] The present invention relates to the field of cable retraction and deployment, and particularly to a cable coiling control method. Background Art

[0002] As an electrical transmission device, cables are widely used in production. At present, there are two power supply methods for mobile operation equipment on the market. One is battery power supply, and the other is cable power supply. The mobile operation equipment is electrically connected to the power source through the cable to achieve power supply. Since the energy density and volume of the battery are relatively low, and the load of the mobile operation equipment is large, the battery power supply has a short endurance time. Most of them choose the cable power supply method, and long-term continuous operation of the mobile operation equipment can be achieved within the length range of the cable.

[0003] Generally, the cable is wound around a reel to form a cable reel. The reel and the driving device for driving the reel to rotate are both arranged on the energy base station. In order to increase the operation range of the mobile operation equipment, the cable is set to be relatively long, resulting in a relatively large radius of the cable reel. Due to the large overall mass and inertia of the cable reel, it is very difficult to match the cable retraction and deployment speed with the traveling track of the mobile operation equipment. When the traveling track of the mobile operation equipment is different from the cable retraction and deployment speed, if the retraction speed is too fast or the deployment speed is too slow, the tension of the cable will be too large, reducing the operation range of the mobile operation equipment; if the retraction speed is too slow or the deployment speed is too fast, the cable will pile up, and the wear between the cable and the ground will be aggravated, affecting the service life of the cable. Summary of the Invention

[0004] According to the deficiencies of the prior art, the present invention proposes a cable coiling control method to solve the problem that the existing cable retraction and deployment speed does not match the movement of the mobile operation equipment.

[0005] A cable coiling control method of the present invention adopts the following technical solutions: including the following steps:

[0006] Obtain the actual trajectory of the mobile operation equipment T 1 during a time period;

[0007] Obtain the predicted trajectory of the mobile operation equipment T 1 during a time period according to the actual trajectory of the mobile operation equipment T 2 during a time period;

[0008] Adjust the cable retraction and deployment speed of T 2 during a time period according to the predicted trajectory of the mobile operation equipment T 2 during a time period;

[0009] Obtain the actual trajectory of the mobile operation equipment T n+1 during a time period, and perform real-time compensation through an error compensation device during T n+1 during a time period, n≥1;

[0010] Calculate T n+1 The error compensation amount for the time period, and obtain the actual trajectory of the mobile operation device during the time period T n+1 The predicted trajectory of the mobile operation device during the time period T n+2 Time period;

[0011] According to the predicted trajectory of the mobile operation device during the time period T n+2 Time period and T n+1 The error compensation amount for the time period, jointly adjust the cable retracting and paying-out speed of the time period T n+2 Time period.

[0012] Optionally, the steps of obtaining the actual trajectory of the mobile operation device include:

[0013] Detect the angle between the mobile operation device and the cable;

[0014] Calculate the actual trajectory of the mobile operation device according to the angle between the mobile operation device and the cable.

[0015] Optionally, the angle between the cable and the mobile operation device is detected by an angle sensing device.

[0016] Optionally, the predicted trajectory of the mobile operation device during the time period T n+1 Time period is the trajectory obtained by advancing along the actual trajectory of the mobile operation device during the time period T n Time period.

[0017] Optionally, the error compensation amount for the time period T n+1 is calculated according to the following formula:

[0018]

[0019]

[0020] The error compensation amount L is:

[0021] Where, L2 represents the cable length between the energy base station and the mobile operation device at the end of the predicted trajectory of the mobile operation device during the time period T n+1 Time period, L1 represents the cable length between the energy base station and the mobile operation device at the end of the actual trajectory of the mobile operation device during the time period T n+1 Time period; L0 represents the cable length between the energy base station and the mobile operation device at the end of the actual trajectory of the mobile operation device during the time period T n Time period;

[0022] a represents the angle between the predicted trajectory of the mobile operation device during the time period T n+1 Time period and L0, b represents the angle between the actual trajectory of the mobile operation device during the time period T n+1 Time period and L0;

[0023] Let \(V\) represent the traveling speed of the mobile working device, and \(T\) represent the traveling time of the mobile working device.

[0024] Optionally, the error compensation device includes guiding rollers, tensioning rollers and elastic members. There are two guiding rollers spaced apart front and back. There are two tensioning rollers located between the two guiding rollers. The tensioning rollers can move up and down. The elastic members are used to support the tensioning rollers and initially move the two tensioning rollers away from each other. The cable is pulled out from the take-up reel, then enters from the upper end of the rear guiding roller, winds around the rear tensioning roller and the front tensioning roller in sequence, and then passes out from under the front guiding roller.

[0025] Optionally, the take-up reel for winding and unwinding the cable is arranged at the energy base station. The energy base station is provided with a control center for analyzing and calculating data, and then controlling the winding and unwinding speed of the cable.

[0026] The beneficial effects of the present invention are as follows: A cable winding control method of the present invention controls the winding speed of the take-up reel through the predicted trajectory of the mobile working device at the initial stage, and compensates for errors through the error compensation device. Thereafter, in the current time period, the winding and unwinding speed of the cable is jointly controlled by the predicted trajectory and the error compensation amount in the previous time period, preventing the cable tension from being too large, reducing the working range of the mobile working device, and preventing the cable from being piled up to cause the wear between the cable and the ground to intensify, affecting the service life of the cable. At the same time, the error accumulation after the mobile working device changes its trajectory is avoided, thereby ensuring that the required length and winding speed of the cable are always matched. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings. Those skilled in the art should understand that these drawings are not necessarily drawn to scale.

[0028] Figure 1 It is a flowchart of a cable winding control method of the present invention.

[0029] Figure 2 It is a connection diagram of the mobile working device, the cable and the energy base station in the present invention.

[0030] Figure 3 It is Figure 2 The enlarged view at position A in

[0031] Figure 4 It is Figure 2 The cross-sectional view of

[0032] Figure 5 is Figure 4 The enlarged view at position B in

[0033] Figure 6 This is the schematic diagram of error calculation in the present invention.

[0034] Figure 7 is Figure 6 The enlarged view at position C in

[0035] In the figure: 100, mobile working equipment; 200, energy base station; 300, cable; 400, take-up reel; 500, error compensation device; 510, elastic member; 520, guide roller; 530, tension roller. Specific embodiments

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] A cable take-up control method of the present invention is used to control the winding and unwinding speed of the cable 300 connected between the mobile working equipment 100 and the energy base station 200. The energy base station 200 is fixedly arranged at a preset position, and the cable 300 is connected between the energy base station 200 and the mobile working equipment 100 to supply electric energy to the mobile working equipment 100. The mobile working equipment 100 operates by being powered through the cable 300. Figures 2 to 5 This is the connection schematic diagram of the mobile working equipment 100, the cable 300, and the energy base station 200.

[0038] The energy base station 200 is provided with a control center for analyzing and calculating data. The take-up reel 400 for winding and unwinding the cable 300 is arranged at the energy base station 200. The winding and unwinding speed of the take-up reel 400 is controlled by the control center. The take-up reel 400 can rotate around the center of the energy base station 200 to facilitate the operation of the mobile working equipment 100. The rotation of the take-up reel 400 around the center of the energy base station 200 is controlled by the control center. A wire arranging device (not shown in the figure) is also arranged on the energy base station 200 to guide the cable 300 to be wound orderly on the take-up reel 400.

[0039] In actual use, multiple energy base stations 200 can be set as needed. Each energy base station 200 radiates a preset range to avoid excessive length of the cable 300 and ensure the normal operation of the mobile working device 100. When the mobile working device 100 is working, the cable 300 is laid and retracted as the mobile working device 100 runs. When the mobile working device 100 moves away from the energy base station 200, the cable 300 is released, and when the mobile working device approaches the energy base station 200, the cable 300 is retracted.

[0040] Refer to Figure 1 , Figure 1 is a flowchart of a cable winding control method of the present invention, specifically including the following steps:

[0041] Step S1: Obtain the actual trajectory of the mobile working device 100T 1 during a time period.

[0042] Step S2: Obtain the predicted trajectory of the mobile working device 100T 2 during a time period. It should be noted that the predicted trajectory of the mobile working device 100T 2 during a time period is obtained by analyzing the actual trajectory of the mobile working device 100T 1 during a time period.

[0043] Step S3: Adjust the winding and unwinding speed of the cable 300 during the T 2 time period according to the predicted trajectory of the mobile working device 100T 2 during a time period.

[0044] Step S4: Obtain the actual trajectory of the mobile working device 100T n+1 during a time period, and compensate the error in real time through the error compensation device 500 during the T n+1 time period, n≥1.

[0045] Step S5: Calculate the error compensation amount during the T n+1 time period, and at the same time obtain the predicted trajectory of the mobile working device 100T n+2 during a time period. The predicted trajectory of the mobile working device 100T n+2 during a time period is obtained by analyzing the actual trajectory of the mobile working device 100T n+1 during a time period. The error compensated during the mobile working device 100T n+1 time period is calculated from the deviation between the actual trajectory of the mobile working device 100T n+1 during a time period and the predicted trajectory of the mobile working device 100T n+1 during a time period.

[0046] Step S6: Jointly adjust the T n+2 time period according to the predicted trajectory of the mobile working device 100T n+1 during a time period and the error compensation amount during the T n+2The retracting and unreeling speed of the cable 300 during the time period.

[0047] Furthermore, when obtaining the actual trajectory of the mobile working device 100, first detect the angle between the mobile working device 100 and the cable 300, and then calculate the actual trajectory of the mobile working device 100 according to the angle between the mobile working device 100 and the cable 300. Mobile working device 100T n+1 The predicted trajectory during the time period is along the mobile working device 100T n The trajectory obtained by advancing along the actual trajectory during the time period.

[0048] Taking T 1 Time period, T 2 Time period, T 3 Time period, and T 4 Time period as an example, initially, the mobile working device 100 moves away from the energy base station 200 to reach the first destination, and then may perform related operations near the first destination. T 1 During the time period, the mobile working device 100 changes its angle to perform operations. The cable 300 and the mobile working device 100 are hinged through a hinge shaft, and an angle sensing device is provided at the hinge. The angle sensing device senses the angle between the cable 300 and the mobile working device 100 and transmits the data to the control center. The control center calculates the actual trajectory of the mobile working device 100T 1 During the time period, and obtains the predicted trajectory of the mobile working device 100T according to the actual trajectory of the mobile working device 100T 1 During the time period. The predicted trajectory of the mobile working device 100T 2 During the time period is the trajectory obtained by advancing along the actual trajectory of the mobile working device 100T 2 During the time period. According to the predicted trajectory of the mobile working device 100T 1 During the time period, the length of the cable 300 that is about to be pulled out can be obtained, and then the retracting and unreeling speed of the coiling disc 400 can be adjusted. 2 According to the predicted trajectory of the mobile working device 100T during the time period, the length of the cable 300 that is about to be pulled out can be obtained, and then the retracting and unreeling speed of the coiling disc 400 can be adjusted.

[0049] The control center obtains the actual trajectory of the mobile working device 100T 2 During the time period. If the mobile working device 100T 2 During the time period changes its angle of operation, that is, changes its trajectory (the trajectory line changes), then the predicted trajectory of the mobile working device 100T 2 During the time period deviates from the actual trajectory of the mobile working device 100T 2 During the time period. The control center calculates this deviation amount and performs real-time compensation through the error compensation device 500 during T 2 During the time period to avoid excessive stress on the cable 300 due to insufficient length, or excessive friction with the ground due to excessive length. Furthermore, according to the mobile working device 100T 2The actual trajectory of the time period obtains the mobile operation device 100T 3 The predicted trajectory of the time period, according to the mobile operation device 100T 3 The predicted trajectory of the time period and the mobile operation device 100T 2 The error compensation amount of the time period jointly adjusts the winding and unwinding speed of the cable 300.

[0050] Similarly, if the mobile operation device 100T 3 Changes the trajectory (the trajectory line changes) in the time period, then the predicted trajectory of the mobile operation device 100T 3 The predicted trajectory of the time period and the mobile operation device 100T 3 There is a deviation between the actual trajectory of the time period, and this error is compensated in real time in the T 3 Time period. The control center passes the predicted trajectory of the mobile operation device 100T 4 The predicted trajectory of the time period and the error compensation amount of the T 3 Time period jointly control the winding and unwinding speed of the take-up reel 400. Through the prediction data and error compensation, the present invention jointly controls the winding and unwinding speed of the cable 300, avoiding the error accumulation after the mobile operation device 100 changes the trajectory, and thus ensuring that the required length and winding speed of the cable 300 are always adapted.

[0051] In a further embodiment Figure 6 And Figure 7 Is the schematic diagram of error calculation. It is set that L2 represents the length of the cable 300 between the energy base station 200 and the mobile operation device 100 at the end of the predicted trajectory of the mobile operation device 100T n+1 Time period, L1 represents the length of the cable 300 between the energy base station 200 and the mobile operation device 100 at the end of the actual trajectory of the mobile operation device 100T n+1 Time period; L0 represents the length of the cable 300 between the energy base station 200 and the mobile operation device 100 at the end of the actual trajectory of the mobile operation device 100T n Time period;

[0052] a represents the angle between the predicted trajectory of the mobile operation device 100T n+1 Time period and L0, b represents the angle between the actual trajectory of the mobile operation device 100T n+1 Time period and L0; V represents the traveling speed of the mobile operation device 100, and T represents the traveling time of the mobile operation device 100.

[0053] According to the cosine theorem, the following calculation formula can be obtained:

[0054]

[0055]

[0056] Mobile operation device 100Tn+1 The error compensation amount of the actual trajectory compared with the predicted trajectory during a period is as follows: . That is to say, the actual length that the cable 300 should be pulled out differs from the length pulled out in the predicted case by L. After compensating for L, the cable 300 can reach the actual length that should be pulled out.

[0057] In a further embodiment, as Figure 5 shown, the error compensation device 500 includes a guiding roller 520, a tensioning roller 530, and an elastic member 510. There are two guiding rollers 520 spaced front and rear, and there are two tensioning rollers 530 located between the two guiding rollers 520. The tensioning roller 530 can move up and down. The elastic member 510 is used to support the tensioning roller 530 and initially makes the two tensioning rollers 530 move away from each other. The cable is pulled out from the take-up reel 400, then enters from the upper end of the rear guiding roller 520, winds around the rear tensioning roller 530 and the front tensioning roller 530 in sequence, and then passes out from below the front guiding roller 520. Initially, the error compensation device 500 can keep the force on the cable 300 between the energy base station 200 and the mobile operation device 100 within a preset range. When the cable 300 is at different positions on the take-up reel 400, that is, with different take-up radii and take-up positions, the cable 300 compensation device can also prevent affecting the angle and force of the cable 300. At the same time, through the setting of the error compensation device 500, a certain margin is stored in the cable 300. When the length of the cable 300 is insufficient, the two tensioning rollers 530 are squeezed, causing the two tensioning rollers 530 to move closer to each other, and the cable 300 can be pulled out for use. When the cable 300 is too long, the two tensioning rollers 530 move away from each other under the action of the elastic member 510, and the excess cable 300 can be stored to compensate for the error in real time. The compensation amount of the error compensation device 500 will be made up by the winding and unwinding speed of the cable 300 in the next period.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cable winding control method for controlling the winding and releasing speed of a cable connected between an energy base station and a mobile operating device, characterized in that: The following steps are involved: Obtain the actual trajectory of the mobile operating equipment during the T1 period; Obtain the predicted trajectory of the mobile operating equipment during the T2 period according to the actual trajectory of the mobile operating equipment during the T1 period; Adjust the cable retraction and release speed during period T2 according to the predicted trajectory of the mobile operating equipment during period T2; Get mobile equipment T n+1 The actual trajectory of the period, and through the error compensation device at T n+1 Real-time compensation during time period, n≥1; Calculate T n+1 The error compensation amount of the time period is based on the mobile operation equipment T n+1 The actual trajectory of the mobile operation equipment T n+2 Prediction trajectory for the time period; According to mobile working equipment T n+2 The predicted trajectory and T n+1 The error compensation amount of the time period is adjusted together with T n+2 Cable retraction and release speed during the time period; Mobile working equipment n+1 The predicted trajectory of the time period is along the mobile working equipment T n The trajectory obtained by moving forward the actual trajectory of the time period; T n+1 The time period error compensation is calculated according to the following formula: ； ； The error compensation amount L is: ; Among them, L2 represents the mobile operation equipment T n+1 The cable length between the energy base station and the mobile operating equipment at the end of the time period prediction trajectory, L1 represents the mobile operating equipment T n+1 The length of the cable between the energy base station and the mobile operating equipment at the end of the actual trajectory of the time period; L0 represents mobile working equipment T n The length of the cable between the energy base station and the mobile operating equipment at the end of the actual trajectory of the time period; a represents mobile working equipment T n+1 The angle between the predicted trajectory of the time period and L0, b represents the mobile operation equipment T n+1 The angle between the actual trajectory of the time period and L0; V represents the travel speed of the mobile working equipment, and T represents the travel time of the mobile working equipment; The error compensation device includes a guide roller, a tensioning roller and an elastic member. There are two guide rollers and they are spaced apart front and back. There are two tensioning rollers and they are located between the two guide rollers. The tensioning roller can move up and down. The elastic member is used to support the tensioning roller and initially keep the two tensioning rollers away from each other. The cable is pulled out from the take-up drum, then enters from the upper end of the rear guide roller, and is successively wound around the rear tensioning roller and the front tensioning roller, and then passes out from under the front guide roller.

2. A cable winding control method according to claim 1, characterized in that: The steps to obtain the actual trajectory of the mobile working equipment include: Detect the angle between the mobile working equipment and the cable; The actual trajectory of the mobile working device is calculated based on the angle between the mobile working device and the cable.

3. A cable winding control method according to claim 2, characterized in that: The angle between the cable and the mobile working device is detected by an angle sensor.

4. A cable winding control method according to claim 1, characterized in that: The reel for retracting and releasing the cable is set at the energy base station. The energy base station is equipped with a control center, which is used to analyze and calculate the data, and then control the retraction and release speed of the cable.

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