A method and apparatus for detecting the length of a cable and an engineering device

Abstract

The application discloses a length detection method and device of a cable and engineering equipment. The method comprises the following steps: acquiring a rotation angle of a cable reel; acquiring critical angles corresponding to each layer of cable; calculating a unit rotation angle corresponding length of each layer of cable, wherein the unit rotation angle corresponding length represents a cable winding length or a cable unwinding length corresponding to a unit angle of the cable reel; and calculating the cable unwinding length according to the rotation angle of the cable reel, the critical angles corresponding to each layer of cable and the unit rotation angle corresponding length of each layer of cable. That is, the rotation angle of the cable reel is collected in real time, the unit rotation angle corresponding length of each layer of cable is calculated, and the cable unwinding length is calculated according to the rotation angle of the cable reel, the critical angles corresponding to each layer of cable and the unit rotation angle corresponding length of each layer of cable. Thus, the unit rotation angle corresponding length of each layer of cable is used to correct the cable unwinding length of the cable reel, so that the detection precision of the cable unwinding length is improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery and equipment technology, specifically to a method, device, and engineering equipment for detecting the length of cables. Background Technology

[0002] In the operation of engineering equipment involving cables (such as cranes), the unwinding length (referred to as the unwinding length) or rewinding length (referred to as the rewinding length) of the wire rope used by the winch is a crucial parameter. Under different operating conditions, the unwinding or rewinding length has a significant impact on the load-bearing capacity of the wire rope and the performance of the engineering equipment. Therefore, the detection and control of the unwinding or rewinding length of the winch is essential.

[0003] Currently, when testing the unwinding or rewinding length of a winch, the rotation radius of a certain layer of wire rope on the winch is taken as the rotation radius of all layers of wire rope. This causes errors in the calculation of the unwinding or rewinding length of the winch. In particular, the more layers of wire rope on the winch, the greater the error will be when the unwinding or rewinding length is longer. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method, apparatus, and engineering equipment for detecting the length of a cable, thereby resolving the aforementioned technical problems.

[0005] According to one aspect of this application, a method for detecting the length of a cable is provided, wherein the cable is wound on a cable reel, the cable having a multi-layered structure on the cable reel, and each layer comprising multiple turns of the cable; the method for detecting the length of the cable includes: obtaining the rotation angle of the cable reel; wherein the rotation angle of the cable reel represents the angle of rotation of the cable reel relative to an initial state; obtaining the critical angle corresponding to each layer of the cable; wherein the critical angle represents the rotation angle of the cable reel corresponding to a critical point between adjacent layers; calculating the length corresponding to a unit rotation angle of each layer of the cable; wherein the length corresponding to a unit rotation angle represents the winding length or unwinding length of the cable on the layer corresponding to a unit rotation angle of the cable reel; and calculating the unwinding length of the cable based on the rotation angle of the cable reel, the critical angle corresponding to each layer of the cable, and the length corresponding to a unit rotation angle of each layer of the cable.

[0006] In one embodiment, calculating the length corresponding to a unit rotation angle of each layer of the cable includes: calculating the average length corresponding to a unit rotation angle of the cable; wherein the average length corresponding to a unit rotation angle represents the ratio of the maximum effective length of the cable to the total angle of the cable reel, and the total angle of the cable reel represents the angle of rotation of the cable reel from the initial state to when the cable reaches its maximum effective length; and calculating the length correction coefficient for each layer; wherein the length correction coefficient characterizes the correction coefficient for the length corresponding to a unit rotation angle of each layer of the cable; and calculating the length corresponding to a unit rotation angle of each layer of the cable based on the average length corresponding to a unit rotation angle and the length correction coefficient for each layer.

[0007] In one embodiment, calculating the length correction coefficient for each layer includes: selecting a reference layer; wherein the length corresponding to the unit rotation angle of the reference layer is equal to the average length corresponding to the unit rotation angle; and calculating the ratio of the circumference of a single loop of cable in each layer to the circumference of a single loop of cable in the reference layer to obtain the length correction coefficient for each layer.

[0008] In one embodiment, calculating the unwinding length of the cable based on the rotation angle of the cable reel, the critical angle corresponding to each layer of the cable, and the length corresponding to the unit rotation angle of each layer of the cable includes: determining the layer number of the free end of the cable on the cable reel based on the rotation angle of the cable reel and the critical angle corresponding to each layer of the cable; and calculating the unwinding length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the length corresponding to the unit rotation angle.

[0009] In one embodiment, if the free end of the cable is located in the first layer, then calculating the unwinding length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the length corresponding to the unit rotation angle includes: calculating the unwinding length of the cable based on the rotation angle of the cable reel and the length corresponding to the unit rotation angle of the cable in the first layer.

[0010] In one embodiment, if the free end of the cable is located in the nth layer, where n is an integer greater than 1, then calculating the unwinding length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the corresponding length per unit rotation angle includes: calculating the total circumference of each layer before the nth layer; calculating the unwinding length of the nth layer based on the rotation angle of the cable reel, the critical angle corresponding to the cable in the nth layer, and the length per unit rotation angle in the nth layer; and calculating the unwinding length of the cable based on the total circumference of each layer before the nth layer and the unwinding length of the nth layer.

[0011] In one embodiment, obtaining the critical angle corresponding to each layer of the cable includes: calibrating the rotation angle of the cable reel corresponding to the critical point between adjacent layers; obtaining the critical angle corresponding to each layer of the cable based on the rotation angle of the cable reel corresponding to each critical point; determining the layer number of the free end of the cable on the cable reel according to the rotation angle of the cable reel and the critical angle corresponding to each layer of the cable includes: comparing the rotation angle of the cable reel and the critical angle corresponding to each layer of the cable to determine the layer number of the free end of the cable on the cable reel.

[0012] In one embodiment, after calculating the unwinding length of the cable based on the rotation angle of the cable reel, the critical angle corresponding to each layer of the cable, and the length corresponding to the unit rotation angle of each layer of the cable, the cable length detection method further includes: calculating the length of the cable wound on the cable reel based on the total length of the cable and the unwinding length of the cable.

[0013] According to another aspect of this application, a cable length detection device is provided, wherein the cable is wound on a cable reel, the cable having a multi-layer structure on the cable reel, and each layer comprising multiple turns of the cable; the cable length detection device includes: a reel angle acquisition module for acquiring the rotation angle of the cable reel; wherein the rotation angle of the cable reel represents the angle of rotation of the cable reel relative to an initial state; a critical angle acquisition module for acquiring the critical angle corresponding to each layer of the cable; a unit length calculation module for calculating the length corresponding to each unit rotation angle of the cable in each layer; wherein the length corresponding to each unit rotation angle represents the winding length or unwinding length of the cable on the layer corresponding to the unit rotation angle of the cable reel; and an unwinding length calculation module for calculating the unwinding length of the cable based on the rotation angle of the cable reel, the critical angle corresponding to each layer of the cable, and the length corresponding to each unit rotation angle of the cable in each layer.

[0014] According to another aspect of this application, an engineering device is provided, comprising: a device body; and a cable length detection device as described above.

[0015] This application provides a cable length detection method, apparatus, and engineering equipment. It acquires the rotation angle of a cable reel, where the rotation angle represents the angle of rotation of the cable reel relative to its initial state; acquires the critical angles corresponding to each layer of cable, where the critical angles represent the rotation angles of the cable reel at the critical points between adjacent layers; calculates the length corresponding to a unit rotation angle of each layer of cable, where the length corresponding to a unit rotation angle represents the winding or unwinding length of the cable on the layer corresponding to a unit rotation angle of the cable reel; and calculates the unwinding length of the cable based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable. In other words, it acquires the rotation angle of the cable reel in real time and calculates the length corresponding to a unit rotation angle of each layer of cable. Based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable, it calculates the unwinding length of the cable, thereby using the length corresponding to a unit rotation angle of each layer of cable to correct the unwinding length obtained from the conversion of the cable reel's rotation angle, thus improving the detection accuracy of the unwinding length of the cable. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a schematic diagram of the structure of a cable length detection device provided in an exemplary embodiment of this application.

[0018] Figure 2 yes Figure 1 The diagram shows a cross-sectional view of the cable length detection device along the AA' direction.

[0019] Figure 3 This is a flowchart illustrating a cable length detection method provided in an exemplary embodiment of this application.

[0020] Figure 4 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application.

[0022] Figure 6 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application.

[0023] Figure 7 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application.

[0024] Figure 8 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the structure of a cable length detection device provided in an exemplary embodiment of this application.

[0026] Figure 10 This is a schematic diagram of the structure of a cable length detection device provided in another exemplary embodiment of this application.

[0027] Figure 11 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0028] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0029] Figure 1 This is a schematic diagram of the structure of a cable length detection device provided in an exemplary embodiment of this application. Figure 2 yes Figure 1 The diagram shows a cross-sectional view of the cable length detection device along the AA' direction. Figure 1 and Figure 2 As shown, the cable length detection device includes an inner reel 1 and a middle reel 2. The inner reel 1 and the middle reel 2 mesh, and the first transmission ratio between the middle reel 2 and the inner reel 1 is greater than 1. The cable is wound on a cable reel, and the middle reel 2 meshes with the cable reel, and the second transmission ratio between the cable reel and the middle reel 2 is greater than 1. Specifically, the outer side of the inner reel 1 may be provided with inner reel outer teeth 11, and the middle reel 2 may be provided with middle reel inner teeth 21 and middle reel outer teeth 22 respectively. The middle reel inner teeth 21 and the inner reel outer teeth 11 mesh, and the number of teeth of the middle reel inner teeth 21 is less than the number of teeth of the inner reel outer teeth 11. The cable reel is also provided with reel inner teeth, and the reel inner teeth and the middle reel outer teeth 22 mesh, and the number of teeth of the reel inner teeth is less than the number of teeth of the middle reel outer teeth 22.

[0030] The cable length detection method and apparatus described in this application can be applied to engineering equipment carrying cables and cable reels, such as cranes, forklifts, presses, elevators, pipe bending machines, bending machines, cable winches, and guide rail pulley telescopic systems of reservoir dam gate opening control systems, etc. To detect the cable's tensile length, this application employs a structure of mutually meshing inner disc 1 and middle disc 2, and mutually meshing middle disc 2 and cable reel. Furthermore, the number of teeth on the inner teeth 21 of the middle disc is less than the number of teeth on the outer teeth 11 of the inner disc, and the number of teeth on the inner teeth of the reel is less than the number of teeth on the outer teeth 22 of the middle disc. That is, the transmission ratio between the middle disc 2 and the inner disc 1 is greater than 1, and the transmission ratio between the cable reel and the middle disc 2 is greater than 1. In other words, by using multi-stage transmission, the rotation of the cable reel is transmitted to the middle reel 2 and the inner reel 1. The rotation angle and number of rotations of the cable reel are refined to the rotation angle and number of rotations of the middle reel 2 and the rotation angle of the inner reel 1, thereby refining the rotation angle and reducing the error value in the cable length detection process, thus improving the detection accuracy.

[0031] The method for cable length detection in this application is described in detail below with reference to the accompanying drawings. It should be understood that the method for cable length detection provided in this application can be based on the above-mentioned cable length detection device structure, or other structures can be used to obtain parameters such as the rotation angle of the cable reel.

[0032] Figure 3 This is a schematic flowchart illustrating a cable length detection method provided in an exemplary embodiment of this application. Figure 3 As shown, the cable length detection method can be applied to the aforementioned cable length detection device, wherein the cable has a multi-layer structure on the cable reel, and each layer includes multiple turns of cable; the cable length detection method includes the following steps:

[0033] Step 310: Obtain the rotation angle of the cable reel.

[0034] The rotation angle of the cable reel represents the angle of rotation of the cable reel relative to its initial state. Since the cable is wound on the cable reel, the unwinding operation will cause the cable reel to rotate. Ignoring the cable diameter, the unwound length of the cable corresponds (positively correlated) with the rotation angle of the cable reel (within one turn). Therefore, this application can estimate the unwound length of the cable by obtaining the rotation angle of the cable reel.

[0035] Step 320: Obtain the critical angles corresponding to each layer of cables.

[0036] The critical angle represents the rotation angle of the cable reel corresponding to the critical point between adjacent layers. Specifically, the critical angles of each layer of cable can be pre-calibrated and recorded, allowing the cable layer number to be determined based on the relationship between the cable reel's rotation angle and the critical angle during subsequent use, thus accurately calculating the unwinding length.

[0037] Step 330: Calculate the length corresponding to the unit rotation angle of each layer of cable.

[0038] The unit rotation angle corresponds to the length representing the cable winding or unwinding length on the layer corresponding to a unit rotation angle of the cable reel. Since the cable diameter is relatively large, it cannot be completely ignored in actual measurements. Furthermore, as the number of layers of cable wound on the reel increases, the cumulative diameter becomes even greater, making the cable diameter non-negligible. Therefore, this application calculates the unit rotation angle corresponding to the length of each layer of cable to determine the cable winding or unwinding length when the cable reel rotates by a unit angle in the current state, allowing for a more accurate calculation of the unwinding length.

[0039] Step 340: Calculate the cable unwinding length based on the rotation angle of the cable reel, the critical angle corresponding to each layer of cable, and the length corresponding to the unit rotation angle of each layer of cable.

[0040] After knowing the rotation angle of the cable reel, the layer number of the cable's free end can be determined by comparing the rotation angle with the critical angle corresponding to each layer of cable. Combined with the length corresponding to the unit rotation angle of the cable in that layer, the cable unwinding length can be accurately calculated.

[0041] This application provides a cable length detection method. It acquires the rotation angle of a cable reel, where the rotation angle represents the angle of rotation of the cable reel relative to its initial state; acquires the critical angles corresponding to each layer of cable, where the critical angles represent the rotation angles of the cable reel at the critical points between adjacent layers; calculates the length corresponding to a unit rotation angle of each layer of cable, where the length corresponding to a unit rotation angle represents the winding or unwinding length of the cable on the layer corresponding to a unit rotation angle of the cable reel; and calculates the unwinding length of the cable based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable. In other words, it acquires the rotation angle of the cable reel in real time and calculates the length corresponding to a unit rotation angle of each layer of cable. Based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable, it calculates the unwinding length of the cable, thereby using the length corresponding to a unit rotation angle of each layer of cable to correct the unwinding length obtained from the conversion of the cable reel's rotation angle, thus improving the detection accuracy of the unwinding length of the cable.

[0042] Figure 4This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application. Figure 4 As shown, step 330 above may include:

[0043] Step 331: Calculate the average length corresponding to the unit rotation angle of the cable.

[0044] The average length corresponding to the unit rotation angle represents the ratio of the maximum effective length of the cable to the total angle of the cable reel. The total angle of the cable reel represents the angle of rotation of the cable reel from its initial state to when the cable reaches its maximum effective length.

[0045] Specifically, the average length corresponding to a unit rotation angle is L. 总 / V 总 , where L 总 V represents the maximum effective length of the cable, that is, the maximum length of the cable that can be laid out from its initial state (less than or equal to the total length of the cable). 总 This represents the total angle of the cable reel, which is the sum of the angles the cable reel rotates from its initial state (corresponding to the initial state of the cable reel) to when it reaches its maximum effective length.

[0046] Step 332: Calculate the length correction coefficient for each layer.

[0047] The length correction factor represents the correction factor for the length of each layer of cable corresponding to a unit rotation angle.

[0048] In one embodiment, step 332 can be implemented as follows: a reference layer is selected; wherein the length corresponding to a unit rotation angle of the reference layer is equal to the average length corresponding to a unit rotation angle; the ratio of the circumference of a single loop of cable in each layer to the circumference of a single loop of cable in the reference layer is calculated to obtain the length correction coefficient of each layer.

[0049] Specifically, the layer information of the cable reel is divided into outer layer (layer 1), middle layer (layer 2 to layer n-1) and inner layer (layer n). In the initial state, the total number of cable layers wound on the cable reel is n. Let the outer diameter of the reel be Dj, the diameter of the cable be Dx, the circumference of one loop of cable in the nth layer be Ln, and the maximum number of loops in a single layer be Q.

[0050] For the inner layer (the nth layer), the inner layer can be wrapped with Q turns of cable. Then the circumference of one turn of cable on the inner layer is L1 = π × (Dx + Dj). The total circumference of the cable on the inner layer (the total circumference of the inner layer cable when all the cables are wrapped in the inner layer) is Lc1 = L1 × Q = π × (Dx + Dj) × Q.

[0051] For the intermediate layer (layer 2 to layer n-1), the intermediate layer can be wrapped with Q turns of cable. Then, the circumference of one turn of cable on the intermediate layer (layer m, 2≤m≤n-1) is Lm=π×[(2m-1)×Dx+Dj], and the total circumference of the cable on the intermediate layer (the total circumference of the cable on layer m when all the cables are wrapped on layer m) is Lcm=Lm×Q=π×[(2m-1)×Dx+Dj]×Q.

[0052] For the outer layer (layer 1), the outer layer can be wound Qw (less than or equal to Q) turns, Qw=[Lz-(L1+L2+……+Ln-1)] / [(2n-1)×Dx+Dj], where Lz is the maximum effective length of the cable. Then the circumference of one turn of the cable on the outer layer is Ln=π×[(2n-1)×Dx+Dj], and the total circumference of the cable on the outer layer (the total circumference of the outer layer cable when the cable is completely wound on the cable reel) Lcn=Ln×Qw.

[0053] This application uses the intermediate layer (layers 2 to n-1) as the reference layer. Optionally, taking a 3-layer structure as an example, layer 2 is selected as the reference layer. Specifically, the ratio (ZCB) of the single-turn cable circumference of each layer to the single-turn cable circumference of the reference layer is calculated based on the perimeter of the intermediate layer. That is, the single-turn cable length of the intermediate layer is used as the reference length to correct the single-turn cable length of other layers, thereby calculating the length corresponding to the unit rotation angle of each layer of cable. Specifically, the length correction coefficient ZCB1 corresponding to the unit rotation angle of the inner layer cable is ZCB1 = inner layer perimeter / intermediate layer perimeter = (π×(Dx+Dj)) / (π×((2n-1)×Dx+Dj)), and the length correction coefficient ZCB2 corresponding to the unit rotation angle of the outer layer cable is ZCB2 = outer layer perimeter / intermediate layer perimeter = Ln / (π×((2n-1)×Dx+Dj)). The correction coefficient for the length corresponding to the unit rotation angle of the intermediate layer cable is 1.

[0054] Step 333: Calculate the length of each layer of cable corresponding to a unit rotation angle based on the average length corresponding to a unit rotation angle and the length correction coefficient of each layer.

[0055] After calculating the length correction coefficient ZCB corresponding to the unit rotation angle of each layer of cable, the length corresponding to the unit rotation angle of each layer of cable is calculated based on the ZCB of each layer and the average length corresponding to the unit rotation angle, so as to improve the accuracy of cable laying length calculation.

[0056] Figure 5 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application. Figure 5 As shown, step 340 above may include:

[0057] Step 341: Determine the layer number of the free end of the cable on the cable reel based on the rotation angle of the cable reel and the critical angle corresponding to each layer of cable.

[0058] The maximum number of cable layers wound on the cable reel is n. Since the rotation angle of the cable reel is related to the length of the cable unwound and the number of layers, the layer where the free end of the cable on the cable reel is located can be determined based on the rotation angle of the cable reel and the critical angle corresponding to each layer of cable. That is, the outermost loop of the cable (the cable that is unwound first on the current cable reel) is located on which layer?

[0059] Step 342: Calculate the cable unwinding length based on the rotation angle of the cable reel, the number of layers where the free end of the cable is located, and the length corresponding to a unit rotation angle.

[0060] Since the cable length corresponding to one rotation of the cable reel varies depending on the number of layers, the unwinding length can be calculated relatively accurately based on the length corresponding to a unit rotation angle for each layer. After determining the number of layers at the free end of the cable, the unwinding length can be calculated based on the length corresponding to a unit rotation angle for that layer (i.e., the ratio of the cable length unwound to the number of rotations of the cable reel when the cable is unwound to that layer, which is the average cable length unwound per unit rotation angle of the cable reel) and the rotation angle of the cable reel.

[0061] Specifically, if the free end of the cable is located in the first layer, then step 340 can be implemented by calculating the cable unwinding length based on the rotation angle of the cable reel and the length corresponding to the unit rotation angle of the cable in the first layer.

[0062] Specifically, the cable unwinding length L1 = V × A1; where V is the rotation angle of the cable reel, and A1 is the length corresponding to the unit rotation angle of the first layer.

[0063] If the free end of the cable is located in the nth layer, where n is an integer greater than 1, then step 340 can be implemented as follows: calculate the total perimeter of each layer before the nth layer; calculate the unwinding length of the nth layer based on the rotation angle of the cable reel, the critical angle corresponding to the cable in the nth layer, and the length corresponding to the unit rotation angle of the nth layer; and calculate the unwinding length of the cable based on the total perimeter of each layer before the nth layer and the unwinding length of the nth layer.

[0064] Specifically, the cable length Ln = V1×A1 + (V2-V1)×A2 + ... + (Vn-1-Vn-2)×An-1 + (V-Vn-1)×An; where V1 is the critical angle corresponding to the first layer, V2 is the critical angle corresponding to the second layer from the outside to the inside, A2 is the length corresponding to a unit rotation angle of the second layer, Vn-1 is the critical angle corresponding to the nth layer from the outside to the inside, An-1 is the length corresponding to a unit rotation angle of the (n-1)th layer, and An is the length corresponding to a unit rotation angle of the nth layer from the outside to the inside. It should be understood that the total perimeter of all layers up to the nth layer can be calculated using the above formula, or it can be obtained through other methods (such as direct measurement). Furthermore, the total perimeter of each layer can be pre-stored for direct use in subsequent calculations, saving computational effort.

[0065] Figure 6 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application. Figure 6 As shown, prior to step 310, the above cable length detection method may further include:

[0066] Step 350: Calibrate the rotation angle of the cable reel corresponding to the critical point between adjacent layers.

[0067] Step 360: Based on the rotation angle of the cable reel corresponding to each critical point, obtain the critical angle corresponding to each layer of cable.

[0068] Taking a three-layer structure as an example, this application can determine the critical points between the third and second layers, and between the first and second layers, by pre-calibrating the first critical angle V1 of the cable reel corresponding to the critical point between the third and second layers, and the second critical angle V2 of the cable reel corresponding to the critical point between the first and second layers, where V1 > V2. This allows for accurate determination of the layer number of the cable's free end based on the first and second critical points. It should be understood that when the cable has an n-layer structure, the critical angles V1, V2, ..., Vn-1 between adjacent layers can be calculated separately.

[0069] Correspondingly, step 341 above may include:

[0070] Step 3411: Compare the rotation angle of the cable reel with the critical angles corresponding to each layer to determine the layer number where the free end of the cable is located on the cable reel.

[0071] Taking a three-layer structure as an example, by comparing the rotation angle of the cable reel with the first critical angle and the second critical angle, the layer number of the cable's free end can be determined. Specifically, if the rotation angle V of the cable reel satisfies: 0 ≤ V ≤ V2, then the layer number of the cable's free end is determined to be the outer layer (layer 1); if the rotation angle V of the cable reel satisfies: V2 < V < V1, then the layer number of the cable's free end is determined to be the middle layer (layer 2); if the rotation angle V of the cable reel satisfies: V1 ≤ V ≤ V2 ...). 总 Then it can be determined that the free end of the cable is located in the inner layer (the 3rd layer).

[0072] Specifically, if the free end of the cable is located on layer 1 (at this time, the cables on layers 2 and 3 are not yet released), then the cable release length L = outer layer ZCB × average length corresponding to a unit rotation angle × rotation angle of the cable reel, that is... L =

[0073] If the free end of the cable is located in the middle layer (the second layer, where the outer layer cable has been fully released and the inner layer cable has not been released), then the cable release length L = ZCB of the middle layer × average length corresponding to a unit rotation angle × (rotation angle of the cable reel - second critical angle) + cable length corresponding to the outer layer, that is:

[0074]

[0075] If the free end of the cable is located in the inner layer (at this time, the cables in the middle and outer layers have already been released), then the cable release length L = ZCB of the inner layer × average length corresponding to a unit rotation angle × (rotation angle of the cable reel - first critical angle) + cable length corresponding to the middle layer + cable length corresponding to the outer layer, that is:

[0076]

[0077] Figure 7 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application. Figure 7 As shown, step 310 above may include:

[0078] Step 311: Obtain the inner plate angle.

[0079] The inner disc angle represents the rotation angle of the inner disc. In one embodiment, step 311 can be implemented by using a magnetoresistive encoder to obtain the inner disc angle. To avoid the inner disc rotating more than one revolution, which would prevent the statistical data from being collected, this application can set the transmission ratio between the inner disc and the middle disc, and the transmission ratio between the middle disc and the cable reel, according to the total length of the cable. This ensures that the number of rotations of the inner disc is less than one during the process of the cable being fully extended or fully retracted, i.e., the inner disc rotation angle is less than 360 degrees during the cable's extension and retraction.

[0080] Step 312: Obtain the mid-plate angle.

[0081] The center disc angle represents the rotation angle of the center disc within a single turn. In one embodiment, step 312 can be implemented by using a magnetoresistive encoder to obtain the center disc angle. This application can accurately determine the rotation angle (inner disc angle) of the center disc using a magnetoresistive encoder, thereby providing accurate basic data for subsequent calculation of the cable reel's rotation angle.

[0082] Step 313: Calculate the rotation angle of the cable reel based on the inner and middle disc angles.

[0083] After obtaining the inner disc angle and the middle disc angle, the rotation angle of the cable reel is calculated based on the inner disc angle and the middle disc angle, combined with the first transmission ratio between the middle disc and the inner disc, and the second transmission ratio between the cable reel and the middle disc.

[0084] Specifically, the number of full rotations of the middle reel = (inner reel angle × first transmission ratio) / 360, and the integer part of the result obtained from this calculation formula is the number of full rotations of the middle reel; the rotation angle of the cable reel = (number of full rotations of the middle reel × second transmission ratio) × 360 + (middle reel angle × second transmission ratio).

[0085] In addition, since the initial state of the cable reel may not necessarily correspond to the rotation angle 0 during long-term use, in order to improve the accuracy of the calculation, this application can periodically correct the initial state of the cable reel, and take the rotation angle corresponding to the initial state as zero degrees.

[0086] Figure 8 This is a flowchart illustrating a cable length detection method provided in another exemplary embodiment of this application. Figure 8 As shown, after step 340, the above cable length detection method may further include:

[0087] Step 370: Calculate the length of the cable wound on the cable reel based on the total length of the cable and the length of the cable unwound.

[0088] After determining the number of layers of the cable on the cable reel, the length of the cable wound on the cable reel can be accurately calculated based on the number of layers, the number of rotations of the cable reel, the diameter of the cable, and the diameter of the cable reel.

[0089] The following examples illustrate the method for calculating cable length in this application. The cable reel is 80 mm wide and the cable is 5 mm in diameter. In actual testing, a single layer can wrap a maximum of 12 turns of cable (i.e., Q = 12). The transmission ratio and rotation angle of the inner reel, middle reel, and cable reel are shown in Table 1 below.

[0090] Table 1. Parameters of Inner Reel, Middle Reel, and Cable Reel

[0091] Number of teeth on the external teeth 150 70 0 Number of teeth in the internal teeth 0 15 14 Transmission ratio 1 10 50 angle θ1 θ2 θ3 Number of laps N1 N2 N3

[0092] Based on the above data, the cable reel can be divided into three layers (determined based on the total length of the cable and the above data):

[0093] 1-12 turns (1st layer): The layer diameter of the cable reel is D1 = 0.375 meters, the circumference of a single turn is C1 = 1.1775 meters, and the total length of the cable in this layer is 12 × C1 = 14.1300 meters.

[0094] 12-24 turns (2nd layer): The layer diameter of the cable reel is D2 = 0.365 meters, the circumference of a single turn is C2 = 1.1461 meters, and the total length of the cable in this layer is 12 × C2 = 13.7532 meters.

[0095] 25-36 turns (3rd layer): The layer diameter of the cable reel is D3 = 0.355 meters, the circumference of a single turn is C3 = 1.1147 meters, and the total length of the cable in this layer is 12 × C3 = 13.3764 meters.

[0096] Then ZCB1 = C3 / C2 = 0.9726, ZCB2 = C1 / C2 = 1.0274.

[0097] For 1-12 laps (0≤V≤1000):

[0098] For 13-24 laps (1000) <V≤2000):

[0099] For 25-36 laps (2000) <V≤3000):

[0100] Figure 9This is a schematic diagram of a cable length detection device provided in an exemplary embodiment of this application. The cable is arranged in a multi-layer structure on a cable reel, and each layer includes multiple turns of cable; as shown... Figure 9 As shown, the cable length detection device 90 includes: a reel angle acquisition module 91, used to acquire the rotation angle of the cable reel; wherein, the rotation angle of the cable reel represents the angle of rotation of the cable reel relative to its initial state; a critical angle acquisition module 92, used to acquire the critical angle corresponding to each layer of cable; a unit length calculation module 93, used to calculate the length corresponding to each layer of cable per unit rotation angle; wherein, the length corresponding to each unit rotation angle represents the cable winding length or unwinding length on the layer corresponding to the unit rotation angle of the cable reel; and an unwinding length calculation module 94, used to calculate the unwinding length of the cable based on the rotation angle of the cable reel, the critical angle corresponding to each layer of cable, and the length corresponding to each unit rotation angle of each layer of cable.

[0101] This application provides a cable length detection device. A reel angle acquisition module 91 acquires the rotation angle of the cable reel, where the rotation angle represents the angle of rotation of the cable reel relative to its initial state. A critical angle acquisition module 92 acquires the critical angles corresponding to each layer of cable, where the critical angle represents the rotation angle of the cable reel corresponding to the critical point between adjacent layers. A unit length calculation module 93 calculates the length corresponding to each layer of cable per unit rotation angle, where the length corresponding to each unit rotation angle represents the winding or unwinding length of the cable on the layer corresponding to the unit rotation angle of the cable reel. A unwinding length calculation module 94 calculates the unwinding length of the cable based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to each unit rotation angle of each layer of cable. In other words, the device acquires the rotation angle of the cable reel in real time and calculates the length corresponding to each layer of cable per unit rotation angle. Based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to each unit rotation angle of each layer of cable, the device calculates the unwinding length of the cable. This allows the device to use the length corresponding to each layer of cable per unit rotation angle to correct the unwinding length obtained from the conversion of the cable reel's rotation angle, thereby improving the detection accuracy of the unwinding length of the cable.

[0102] Figure 10 This is a schematic diagram of the structure of a cable length detection device provided in another exemplary embodiment of this application. Figure 10As shown, the unit length calculation module 93 may include: an average length calculation unit 931, used to calculate the average length corresponding to a unit rotation angle of the cable; wherein, the average length corresponding to a unit rotation angle represents the ratio of the maximum effective length of the cable to the total angle of the cable reel, and the total angle of the cable reel represents the angle of rotation of the cable reel from its initial state to when the cable reaches its maximum effective length; a correction coefficient calculation unit 932, used to calculate the length correction coefficient of each layer; wherein, the length correction coefficient represents the correction coefficient of the length corresponding to a unit rotation angle of each layer of cable; and a unit length determination unit 933, used to calculate the length corresponding to a unit rotation angle of each layer of cable based on the average length corresponding to a unit rotation angle and the length correction coefficient of each layer.

[0103] In one embodiment, the correction coefficient calculation unit 932 may be further configured to: select a reference layer; wherein the length corresponding to a unit rotation angle of the reference layer is equal to the average length corresponding to a unit rotation angle; calculate the ratio of the circumference of a single loop of cable in each layer to the circumference of a single loop of cable in the reference layer to obtain the length correction coefficient of each layer.

[0104] In one embodiment, the above-mentioned rope length calculation module 94 can be further configured to: determine the layer number of the free end of the cable on the cable reel based on the rotation angle of the cable reel and the critical angle corresponding to each layer of cable; and calculate the rope length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the length corresponding to the unit rotation angle.

[0105] In one embodiment, such as Figure 10 As shown, the cable length detection device 90 may further include: a critical point calibration module 95, used to calibrate the rotation angle of the cable reel corresponding to the critical point between adjacent layers; and a critical angle determination module 96, used to obtain the critical angle corresponding to each layer of cable based on the rotation angle of the cable reel corresponding to each critical point. Correspondingly, the above-mentioned cable length calculation module 94 may be further configured to: compare the rotation angle of the cable reel with the critical angle corresponding to each layer to determine the layer number where the free end of the cable on the cable reel is located.

[0106] In one embodiment, the above-mentioned reel angle acquisition module 91 can be further configured to: acquire the inner reel angle, wherein the inner reel angle represents the rotation angle of the inner reel; acquire the middle reel angle, wherein the middle reel angle represents the rotation angle of the middle reel in a single turn; and calculate the rotation angle of the cable reel based on the inner reel angle and the middle reel angle.

[0107] In one embodiment, such as Figure 10 As shown, the cable length detection device 90 may further include: a remaining length calculation module 97, used to calculate the length of the cable wound on the cable reel based on the total length of the cable and the length of the cable unwinding.

[0108] This application also provides an engineering device, including: a device body; and a cable length detection device as described above.

[0109] This application provides an engineering device that acquires the rotation angle of a cable reel, where the rotation angle represents the angle of rotation of the cable reel relative to its initial state; acquires the critical angles corresponding to each layer of cable, where the critical angles represent the rotation angles of the cable reel corresponding to the critical points between adjacent layers; calculates the length corresponding to a unit rotation angle of each layer of cable, where the length corresponding to a unit rotation angle represents the winding or unwinding length of the cable on the layer corresponding to a unit rotation angle of the cable reel; and calculates the unwinding length of the cable based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable. In other words, it acquires the rotation angle of the cable reel in real time, calculates the length corresponding to a unit rotation angle of each layer of cable, and calculates the unwinding length of the cable based on the rotation angle of the cable reel, the critical angles corresponding to each layer of cable, and the length corresponding to a unit rotation angle of each layer of cable, thereby using the length corresponding to a unit rotation angle of each layer of cable to correct the unwinding length obtained from the conversion of the cable reel's rotation angle, thus improving the detection accuracy of the unwinding length of the cable.

[0110] Below, for reference Figure 11 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0111] Figure 11 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0112] like Figure 11 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0113] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0114] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0115] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0116] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0117] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0118] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0119] Of course, for the sake of simplicity, Figure 11 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0120] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0121] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0122] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for detecting the length of a cable, characterized in that, The cable is wound on a cable reel, and the cable has a multi-layer structure on the cable reel, with each layer including multiple turns of the cable; the cable length detection method includes: Obtain the rotation angle of the cable reel; wherein, the rotation angle of the cable reel represents the angle of rotation of the cable reel relative to its initial state; Obtain the critical angle corresponding to each layer of the cable; wherein, the critical angle represents the rotation angle of the cable reel corresponding to the critical point between adjacent layers; Calculate the length corresponding to a unit rotation angle of the cable in each layer; wherein, the length corresponding to a unit rotation angle represents the winding length or unwinding length of the cable on the layer corresponding to a unit rotation angle of the cable reel; and The unwinding length of the cable is calculated based on the rotation angle of the cable reel, the critical angle corresponding to each layer of cable, and the length corresponding to the unit rotation angle of each layer of cable. The calculation of the length corresponding to the unit rotation angle of the cable in each layer includes: Calculate the average length corresponding to a unit rotation angle of the cable; wherein, the average length corresponding to a unit rotation angle represents the ratio of the maximum effective length of the cable to the total angle of the cable reel, and the total angle of the cable reel represents the angle of rotation of the cable reel from the initial state to when the cable reaches its maximum effective length; Calculate the length correction coefficient for each layer; wherein the length correction coefficient represents the correction coefficient for the length corresponding to the unit rotation angle of the cable in each layer; and The length corresponding to the unit rotation angle of the cable in each layer is calculated based on the average length corresponding to the unit rotation angle and the length correction coefficient of each layer.

2. The cable length detection method according to claim 1, characterized in that, The calculation of the length correction coefficient for each layer includes: A reference layer is selected; wherein the length corresponding to a unit rotation angle of the reference layer is equal to the average length corresponding to the unit rotation angle; and The ratio of the circumference of a single loop of cable in each layer to the circumference of a single loop of cable in the reference layer is calculated to obtain the length correction coefficient for each layer.

3. The cable length detection method according to claim 2, characterized in that, The step of calculating the cable release length based on the rotation angle of the cable reel, the critical angle corresponding to each layer of cable, and the length corresponding to the unit rotation angle of each layer of cable includes: Based on the rotation angle of the cable reel and the critical angle corresponding to each layer of cable, determine the layer number where the free end of the cable on the cable reel is located; and The unwinding length of the cable is calculated based on the rotation angle of the cable reel, the number of layers where the free end of the cable is located, and the length corresponding to the unit rotation angle.

4. The cable length detection method according to claim 3, characterized in that, If the free end of the cable is located in layer 1, then calculating the unwinding length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the length corresponding to the unit rotation angle includes: The unwinding length of the cable is calculated based on the rotation angle of the cable reel and the length corresponding to the unit rotation angle of the cable in the first layer.

5. The cable length detection method according to claim 3, characterized in that, If the free end of the cable is located on the nth layer, where n is an integer greater than 1, then calculating the unwinding length of the cable based on the rotation angle of the cable reel, the layer number of the free end of the cable, and the corresponding length per unit rotation angle includes: Calculate the total perimeter of each layer before the nth layer; Calculate the unwinding length of the nth layer based on the rotation angle of the cable reel, the critical angle corresponding to the cable in the nth layer, and the length corresponding to the unit rotation angle of the nth layer; and The cable length is calculated based on the total perimeter of all layers before the nth layer and the cable length of the nth layer.

6. The cable length detection method according to claim 3, characterized in that, The process of obtaining the critical angles corresponding to each layer of the cable includes: The rotation angle of the cable reel corresponding to the critical point between adjacent layers is calibrated; Based on the rotation angle of the cable reel corresponding to each critical point, the critical angle corresponding to each layer of cable is obtained; The step of determining the layer containing the free end of the cable on the cable reel based on the rotation angle of the cable reel and the critical angle corresponding to each layer of the cable includes: By comparing the rotation angle of the cable reel with the critical angle corresponding to each layer of the cable, the layer number of the free end of the cable on the cable reel is determined.

7. The cable length detection method according to claim 1, characterized in that, After calculating the cable unwinding length based on the rotation angle of the cable reel, the critical angle corresponding to each layer of cable, and the length corresponding to the unit rotation angle of each layer of cable, the cable length detection method further includes: The length of the cable wound on the cable reel is calculated based on the total length of the cable and the length of the cable unwound.

8. A cable length detection device, characterized in that, The cable is wound on a cable reel, and the cable has a multi-layer structure on the cable reel, with each layer including multiple turns of the cable; the cable length detection device includes: The cable reel angle acquisition module is used to acquire the rotation angle of the cable reel; wherein, the rotation angle of the cable reel represents the angle of rotation of the cable reel relative to its initial state; A critical angle acquisition module is used to acquire the critical angles corresponding to the cables in each layer. A unit length calculation module is used to calculate the length corresponding to a unit rotation angle of the cable in each layer; wherein, the length corresponding to a unit rotation angle represents the winding length or unwinding length of the cable on the layer corresponding to the unit rotation angle of the cable reel; the calculation of the length corresponding to a unit rotation angle of the cable in each layer includes: calculating the average length corresponding to a unit rotation angle of the cable; wherein, the average length corresponding to a unit rotation angle represents the ratio of the maximum effective length of the cable to the total angle of the cable reel, and the total angle of the cable reel represents the angle of rotation of the cable reel from the initial state to when the cable reaches its maximum effective length; calculating the length correction coefficient for each layer; wherein, the length correction coefficient represents the correction coefficient for the length corresponding to a unit rotation angle of the cable in each layer; and calculating the length corresponding to a unit rotation angle of the cable in each layer based on the average length corresponding to a unit rotation angle and the length correction coefficient for each layer; and The cable release length calculation module is used to calculate the cable release length based on the rotation angle of the cable reel, the critical angle corresponding to each layer of the cable, and the length corresponding to the unit rotation angle of each layer of the cable.

9. An engineering device, characterized in that, include: Equipment body; as well as The cable length detection device as described in claim 8.

Images