Power supply method and power supply device

Abstract

The application discloses a power supply method and a power supply device. The power supply method is applied to the power supply device. The power supply device comprises a guide rail, a mobile power supply and a connecting cable and is used for supplying power to an electric working machine. The method comprises the following steps: determining that the electric working machine is started in a working mode; determining that the connecting cable is moved; determining a moving direction of the connecting cable; calculating a moving amount of the mobile power supply according to the moving direction and a preset adjustment coefficient; and controlling the mobile power supply to perform a moving operation based on the moving amount. The power supply method is beneficial to prolonging the service life and ensuring stable operation of the electric working machine.

Description

Technical Field

[0001] This application belongs to the field of power supply device technology, and specifically relates to a power supply method and a power supply device. Background Technology

[0002] In the field of electric excavation systems, to ensure the long-term operation of electric work machinery (such as electric excavators), power is typically drawn from the power source (such as the power grid) using a cable jump-start system. This process requires the power supply line to be stable, mobile, and safe, enabling the electric work machinery to operate for extended periods within the required area. However, existing power supply systems often suffer from low accuracy in controlling the cable retraction and extension speed, leading to delayed cable releases. This can damage the power cable, reducing its lifespan and compromising the stable operation of the electric work machinery. Summary of the Invention

[0003] The purpose of this application is to provide a power supply method and power supply device that can extend the service life of the power supply device and ensure the stable operation of electric machinery.

[0004] To achieve the above objectives, the first aspect of this application provides a power supply method applied to a power supply device, the power supply device including a guide rail, a mobile power supply, and connecting cables for supplying power to electric work machinery, the method comprising:

[0005] Determine the operating mode of the electric work machinery;

[0006] It has been determined that the connecting cable has been moved;

[0007] Determine the direction of movement of the connecting cable;

[0008] The amount of movement of the power bank is calculated based on the direction of movement and the preset adjustment coefficient.

[0009] The mobile power supply performs mobile operations based on the movement quantity control.

[0010] In embodiments of this application, determining that the connecting cable has moved includes:

[0011] Acquire the detection signal sent by the cable movement detector;

[0012] The detection signal is compared with the preset detection signal. If the detection signal is inconsistent with the preset detection signal, it is determined that the connecting cable has been moved.

[0013] In embodiments of this application, determining the direction of movement of the connecting cable includes:

[0014] Obtain the correspondence between the detection signal and the direction of movement;

[0015] The direction of movement is determined based on the detection signals and their corresponding relationships.

[0016] In embodiments of this application, the method further includes:

[0017] Obtain the movement trend index of electric operating machinery;

[0018] The early response mode for activating the cable retraction mechanism is determined based on the movement trend index.

[0019] The cable feeding speed of the cable take-up and feed mechanism is determined based on the movement trend index.

[0020] Obtain the wire feeding speed adjustment value;

[0021] The cable winding and unwinding mechanism is controlled to perform the cable winding and unwinding operation according to the cable winding speed adjustment value.

[0022] In embodiments of this application, obtaining the movement trend index of the electric work machinery includes:

[0023] To obtain the critical travel distance and instantaneous travel rate of the electric working machinery;

[0024] The critical movement distance and instantaneous movement rate are normalized to obtain normalized values ​​for the critical movement distance and instantaneous movement rate.

[0025] The movement trend index is calculated based on the normalized value of the critical movement distance and the normalized value of the instantaneous movement rate.

[0026] In the embodiments of this application, the critical movement distance is obtained in the following manner:

[0027] Obtain the first three-dimensional coordinates of the power source, the second three-dimensional coordinates of the electric work machinery, and the total length of the connecting cables;

[0028] Calculate the working area radius of the electric work machinery based on the first three-dimensional coordinates and the total length;

[0029] The critical movement distance is calculated based on the radius of the working area and the second and third-dimensional coordinates.

[0030] In embodiments of this application, determining the advance response mode for activating the cable retraction mechanism based on the movement trend index includes:

[0031] Obtain the first preset threshold;

[0032] The movement trend index is compared with a first preset threshold. If the movement trend index is greater than the first preset threshold, the early response mode of the cable reel-in / out mechanism is activated.

[0033] In the embodiments of this application, determining the cable release speed of the cable take-up and release mechanism based on the movement trend index includes:

[0034] Obtain a second preset threshold, wherein the second preset threshold is not less than the first preset threshold;

[0035] The movement trend index is compared with the second preset threshold. If the movement trend index is greater than the second preset threshold, the cable release speed of the cable take-up and release mechanism is determined.

[0036] In embodiments of this application, obtaining the line-feeding speed adjustment value includes:

[0037] Get the current line-laying speed value;

[0038] The adjustment value for the laying speed is calculated based on the current laying speed value and the moving trend index.

[0039] A second aspect of this application provides a power supply device for supplying power to an electric work machine and includes:

[0040] Guide rails are installed at the top of the working space of the electric operating machinery;

[0041] A portable power bank that can be movably mounted on a guide rail;

[0042] A connecting cable, with its two ends electrically connected to a power source and an electric work machine located on the ground in the workspace, respectively; and

[0043] The controller is configured to perform the power supply method described above.

[0044] As can be seen from the above technical solution, the power supply method includes: determining the operating mode of the electric work machinery; determining that the connecting cable has moved; determining the direction of movement of the connecting cable; calculating the movement amount of the mobile power supply based on the movement direction and a preset adjustment coefficient; and controlling the mobile power supply to perform movement operations based on the movement direction and movement amount. This power supply method enables the mobile power supply to follow the electric work machinery, thereby ensuring the stability and safety of the power supply to the electric work machinery.

[0045] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0047] Figure 1 This is a schematic diagram of the main control flow of the power supply device in the embodiments of this application;

[0048] Figure 2 This is a schematic diagram of the power supply device in the embodiments of this application;

[0049] Figure 3 This is a schematic diagram of the critical movement distance in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the various control components of the power supply device in the embodiments of this application.

[0051] Explanation of reference numerals in the attached figures

[0052] 1-Guide rail; 2-Electric operating machinery; 3-Mobile power supply; 4-Connecting cable; 5-Controller; 6-Cable movement detector; 7-Moving drive; 8-Operating device; 9-First position detector; 10-Second position detector; 11-Moving speed detector; H-Length of the first right angle; A-Total length of the connecting cable; D-Critical moving distance; L-Working area radius of the electric operating machinery. Detailed Implementation

[0053] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0054] Embodiments of this application provide a power supply method, which is applied to a power supply device (such as...). Figure 2 The device (shown) includes a guide rail 1, a mobile power supply 3, and a connecting cable 4 for supplying power to the electric work machinery 2. The guide rail 1 is located at the top of the workspace of the electric work machinery 2; the mobile power supply 3 is movably mounted on the guide rail 1; and the two ends of the connecting cable 4 are electrically connected to the mobile power supply 3 and the electric work machinery 2 located on the ground of the workspace, respectively.

[0055] Specifically, in this embodiment, the electric work machinery 2 can be an electric excavator. The power supply device also includes a controller 5, a moving mechanism, and a moving drive component 7 that is communicatively connected to the controller 5. The moving mechanism is mounted on the guide rail 1 and can move along the guide rail 1. Figure 4 As shown, a moving drive component 7 (such as a motor) is mounted on the moving mechanism and communicates with the controller 5 to drive the moving mechanism; a mobile power source 3 (such as an electrical grid) is mounted on the moving mechanism. Under the driving action of the moving drive component 7, the moving mechanism can move along the guide rail 1 with the mobile power source 3, thereby changing the position of the mobile power source 3 in the workspace.

[0056] The method includes the following steps:

[0057] Step S101: Determine that the electric operating machine 2 is in the working mode.

[0058] Specifically, the electric work machinery 2 includes an operating device 8 (such as an operating handle or touch screen in the cab). The operating device 8 is equipped with an operating button to activate the working mode. After the operator presses the operating button, the operating device 8 sends a corresponding signal to the controller 5. After receiving the signal, the controller 5 can determine that the electric work machinery 2 has activated the working mode.

[0059] Step S102: Determine that the connecting cable 4 has been moved.

[0060] In one embodiment of this application, step S102, determining that the connecting cable 4 has moved, includes steps S201-S202, wherein:

[0061] Step S201: Obtain the detection signal sent by the cable movement detector 6;

[0062] Step S202: Compare the detection signal with the preset detection signal. If the detection signal is inconsistent with the preset detection signal, it is determined that the connecting cable 4 has moved.

[0063] Specifically, the power supply device also includes a cable movement detector 6, which is communicatively connected to the controller 5 and used to detect whether the connecting cable 4 has moved. In this embodiment, the cable movement detector 6 can be a photoelectric sensor. The signal transmitting end of the photoelectric sensor is set on the mobile power supply 3, and the signal receiving end of the photoelectric sensor is set on the electric operating machine 2. The cable movement detector 6 is installed when the electric operating machine 2 is stationary. During the installation process, the operator can adjust the signal transmitting end and / or the specific installation position of the signal transmitting end to ensure that the cable movement detector 6 can be in a good signal reception state at any position in the working space of the electric operating machine 2. The photoelectric sensor can send different detection signals to the controller 5 according to different states of the connecting cable 4. For example, when the connecting cable 4 has not moved, the detection signal sent by the photoelectric sensor to the controller 5 is 0. The controller 5 has a preset detection signal stored in it, which is 0. After receiving the detection signal sent by the photoelectric sensor, the controller 5 compares it with the preset detection signal. If the two are consistent, it means that the connecting cable 4 has not moved; if the two are inconsistent, it means that the connecting cable 4 has moved.

[0064] Step S103: Determine the direction of movement of the connecting cable 4.

[0065] In one embodiment of this application, step S103, determining the moving direction of the connecting cable 4, includes steps S301-S302, wherein:

[0066] Step S301: Obtain the correspondence between the detection signal and the direction of movement;

[0067] Step S302: Determine the direction of movement based on the detection signal and the corresponding relationship.

[0068] Specifically, the controller 5 stores a pre-defined correspondence between detection signals and movement directions. The photoelectric sensor can send different detection signals to the controller 5 according to the different movement directions of the connecting cable 4. For example, when the connecting cable 4 moves in the first preset direction, the photoelectric sensor sends a detection signal of 1 to the controller 5; when the connecting cable 4 moves in the second preset direction, the photoelectric sensor sends a detection signal of -1 to the controller 5. After receiving the detection signal sent by the cable movement detector 6, the controller 5 matches the detection signal sent by the cable movement detector 6 with each detection signal in the pre-stored correspondence. Based on the matching result, the controller 5 determines the movement direction of the electric operating machinery 2. For example, when the received detection signal is 1, the controller 5 determines the movement direction of the connecting cable 4 to be the first preset direction according to the correspondence; when the received detection signal is -1, the controller 5 determines the movement direction of the connecting cable 4 to be the second preset direction according to the correspondence.

[0069] Furthermore, the position signal of the photoelectric sensor's signal receiving end will change as the electric working machine 2 moves. The photoelectric sensor's signal transmitting end can emit multiple beams of light, and the signal receiving end can determine the relative angle change of the electric working machine 2 based on the angle of different beams, thereby determining the moving direction of the connecting cable 4 connected to the electric working machine 2.

[0070] Step S104: Calculate the movement amount of the mobile power supply 3 based on the direction of movement and the preset adjustment coefficient.

[0071] Specifically, the amount of movement can be calculated using the following formula:

[0072] adjustment = K p ×error (1)

[0074] Where adjustment is the amount of movement, measured in meters (m); K p K is a preset adjustment coefficient that can adjust the numerical value of the movement. p The numerical range is [0, 1]. Furthermore, in this embodiment, K... p The preferred value is 0.1; error is the detection signal corresponding to the direction of movement.

[0075] For example, if the direction of movement is a first preset direction, the detection signal corresponding to the first preset direction is 1, that is, error is 1, K pThe value is 0.1. Therefore, according to formula (1), the adjustment is calculated to be 0.1, that is, when the connecting cable 4 moves in the moving direction, the moving amount of the mobile power supply 3 is 0.1m.

[0076] Similarly, if the direction of movement is the second preset direction, the detection signal corresponding to the second preset direction is -1, that is, the error is -1, K p The value is 0.1. Therefore, according to formula (1), the adjustment is calculated to be -0.1, that is, when the connecting cable 4 moves in the second moving direction, the moving amount of the mobile power supply 3 is -0.1m.

[0077] Step S105: Control the mobile power supply 3 to perform a movement operation based on the movement amount.

[0078] Specifically, in this embodiment, the controller 5 stores a pre-defined correspondence between the magnitude of the movement and the direction of movement of the power bank 3. For example, when the movement is less than 0, the direction of movement of the power bank 3 is the first preset direction; when the movement is greater than 0, the direction of movement of the power bank 3 is the second preset direction. That is, the controller 5 can determine the subsequent direction of movement of the power bank 3 based on whether the movement is positive or negative, and then the controller 5 can determine the movement distance based on the absolute value of the movement. For example, when the movement of the power bank 3 is 0.1m, the controller 5 controls the power bank 3 to move 0.1m in the first preset direction; when the movement of the power bank 3 is -0.1m, the controller 5 controls the power bank 3 to move 0.1m in the second preset direction.

[0079] The electric work machine 2 has multiple working areas within its working space. Due to the limited length of the connecting cable 4, when the electric work machine 2 needs to change working areas, the connecting cable 4, which originally had a preset redundant length (this preset redundant length ensures that the connecting cable 4 is neither straightened nor drooping to the ground before the electric work machine 2 moves), is gradually straightened and moved. When the connecting cable 4 moves, it can be detected by the cable movement detector 6. At this time, the controller 5 of the power supply device in this embodiment can calculate the amount of movement based on the detection signal sent by the cable movement detector 6, and make the mobile power supply 3 move based on the above-mentioned amount of movement, so as to realize the following of the mobile power supply 3 to the electric work machine 2, thereby ensuring the stability and safety of the power supply to the electric work machine 2.

[0080] In one embodiment of this application, the controller is further configured to perform the following steps S401-S405, wherein:

[0081] Step S401: Obtain the movement trend index of the electric operating machine 2.

[0082] In one embodiment of this application, step S401, obtaining the movement trend index of the electric operating machine 2, further includes steps S501-S503, wherein:

[0083] Step S501: Obtain the critical moving distance D and instantaneous moving speed of the electric working machine 2.

[0084] In one embodiment of this application, the critical travel distance D is obtained as follows:

[0085] Step S601: Obtain the first three-dimensional coordinates of the mobile power supply 3, the second three-dimensional coordinates of the electric work machinery 2, and the total length A of the connecting cable.

[0086] Specifically, the power supply device also includes a first position detector 9 and a second position detector 10. The first position detector 9 is communicatively connected to the controller 5 and is used to detect the first three-dimensional coordinates of the mobile power supply 3. After detecting the first three-dimensional coordinates, the first position detector 9 sends them to the controller 5. The second position detector 10 is communicatively connected to the controller 5 and is used to detect the second three-dimensional coordinates of the electric work machinery 2. After detecting the second three-dimensional coordinates, the second position detector 10 sends them to the controller 5. Furthermore, in this embodiment, the first position detector 9 and the second position detector 10 are integrated into one unit and selected as the BeiDou satellite navigation system. In addition, in this embodiment, the total length A of the connecting cable is pre-stored in the controller 5 and can be retrieved when needed.

[0087] Step S602: Calculate the working area radius L of the electric operating machine based on the first three-dimensional coordinates and the total length.

[0088] Specifically, the first three-dimensional coordinates are projected onto the ground of the working space of the electric work machine 2. A right triangle is constructed with the line passing through the projected coordinates of the first three-dimensional coordinates on the ground and the second three-dimensional coordinates as the first right-angle side, the line passing through the projection of the first three-dimensional coordinates and the projected coordinates as the first right-angle side, the connecting cable 4 as the hypotenuse, and the total length A of the connecting cable as the hypotenuse length. The length H of the first right-angle side is consistent with the z-axis coordinate of the first three-dimensional coordinates. The controller 5 calculates the length of the second right-angle side of the right triangle based on the z-coordinate value of the first three-dimensional coordinates and the total length A of the connecting cable. A circle is drawn with the projected coordinates of the first three-dimensional coordinates on the ground as the origin and the length of the second right-angle side as the radius. The area inside the circle is the working area radius L of the electric work machine (this working area radius refers to the radius of the area that the electric work machine 2 can move to when the power source 3 is in its current position and the connecting cable 4 is extended to its total length).

[0089] Step S603: Calculate the critical movement distance D based on the working area radius and the second three-dimensional coordinates.

[0090] Specifically, in this embodiment, the second three-dimensional coordinates are (X1, Y1, 0). The intersection of the straight line passing through the projected coordinates of the first three-dimensional coordinates on the ground and the second three-dimensional coordinates with the boundary of the working area (circular) of the electric work machinery 2 is defined as the critical point. Figure 3 As shown, the distance between the second three-dimensional coordinates (X1, Y1, 0) and the critical point is the critical movement distance D in this embodiment. The controller 5 can determine the equation of the straight line passing through the projection coordinates of the first three-dimensional coordinates on the ground and the second three-dimensional coordinates based on the second three-dimensional coordinates (X1, Y1, 0). It can also determine the equation of the circle containing the critical line of the working area of ​​the electric operating machine 2 based on the working area radius L of the electric operating machine. Then, based on the above straight line equation and circle equation, the three-dimensional coordinates (X2, Y2, 0) of the critical point are calculated. Further, the critical movement distance D can be calculated according to the following formula:

[0091]

[0092] Where D is the critical movement distance, Y2 is the y-axis coordinate of the critical point, Y1 is the y-axis coordinate of the second three-dimensional coordinate, X2 is the x-axis coordinate of the critical point, and X1 is the x-axis coordinate of the second three-dimensional coordinate.

[0093] The closer the electric operating machine 2 is to the critical point (i.e., the smaller the critical movement distance D), the greater the elongation requirement of the connecting cable 4; otherwise, the connecting cable 4 may be pulled.

[0094] The power supply device also includes a movement rate detector 11, which is communicatively connected to the controller 5 and used to detect the instantaneous movement rate of the electric working machinery 2. After the movement rate detector 11 completes the detection, it sends the detection result to the controller 5. Furthermore, in this embodiment, the movement rate detector 11 is integrated with the first position detector 9 and the second position detector 10 and can be selected as the Beidou satellite navigation system.

[0095] Step S502: Normalize the critical movement distance D and the instantaneous movement rate to obtain the normalized values ​​of the critical movement distance and the instantaneous movement rate.

[0096] Specifically, the critical travel distance D can be normalized and the normalized value of the critical travel distance can be obtained in the following way:

[0097]

[0098] Among them, D norn D is the normalized value of the critical movement distance. min D is the minimum critical moving distance. max The critical moving distance is the maximum value, where D min and D maxAll of these are pre-stored in controller 5 and can be retrieved when needed.

[0099] The instantaneous movement rate can be normalized and a normalized value obtained using the following method:

[0100]

[0101] Among them, S norn Here, S is the instantaneous movement speed normalized value. min S represents the minimum instantaneous movement speed. max S is the maximum instantaneous movement speed, where S min and S max All of these are pre-stored in controller 5 and can be retrieved when needed.

[0102] The normalized values ​​of critical movement distance and instantaneous movement rate obtained after normalization are both mapped to the range [0, 1].

[0103] Step S503: Calculate the movement trend index based on the normalized value of the critical movement distance and the normalized value of the instantaneous movement rate.

[0104] Specifically, controller 5 can calculate the movement trend index according to the following formula:

[0105] X 趋势 =D norn +S norn (5)

[0107] Among them, X 趋势 This is a moving trend index.

[0108] Specifically, in this embodiment, the larger the movement trend index, the closer the electric working machine 2 is to the critical point and / or the faster the movement rate of the electric working machine 2, which in turn indicates that there is a greater need to lay the connecting cable 4 in advance, otherwise the connecting cable 4 is likely to be pulled.

[0109] Step S402: Determine the advance response mode for activating the cable take-up and retractor mechanism based on the movement trend index;

[0110] In one embodiment of this application, step S402, which determines the advance response mode for activating the cable retraction mechanism based on the movement trend index, includes steps S701-S702, wherein:

[0111] Step S701: Obtain the first preset threshold;

[0112] Step S702: Compare the movement trend index with the first preset threshold. If the movement trend index is greater than the first preset threshold, determine to activate the early response mode of the cable retraction mechanism.

[0113] Specifically, the first preset threshold is pre-stored in the controller 5 and its range is [0, 2]. Further, in this embodiment, the first preset threshold can preferably be 0.5. For example, when the controller 5 calculates the movement trend index X... 趋 After the trend is established, it is compared with the first preset threshold. If the trend index X... 趋势 If the value is greater than 0.5, the control cable winding mechanism will activate the early response mode so that the cable winding mechanism can quickly release the cable, further ensuring that the connecting cable 4 is not pulled and improving the reliability of the power supply device.

[0114] Step S403: Determine and adjust the cable release speed of the cable take-up and release mechanism according to the movement trend index.

[0115] In one embodiment of this application, step S403, which determines the cable release speed of the cable take-up and release mechanism based on the movement trend index, includes steps S801-S802, wherein:

[0116] Step S801: Obtain a second preset threshold, wherein the second preset threshold is not less than the first preset threshold;

[0117] Step S802: Compare the movement trend index with the second preset threshold. If the movement trend index is greater than the second preset threshold, determine to adjust the cable release speed of the cable take-up and release mechanism.

[0118] Specifically, the second preset threshold is pre-stored in the controller 5 and its range is [0, 2]. Further, in this embodiment, the first preset threshold can preferably be 1. For example, when the controller 5 calculates the movement trend index X... 趋势 Furthermore, a comparison reveals that the moving trend index X 趋势 If the value exceeds the first preset threshold, the moving trend index X will be further adjusted. 趋势 Compared with the second preset threshold, if the moving trend index X 趋势 If the value is greater than 1, the controller 5 will adjust the cable release speed of the cable reeling mechanism so that the cable reeling mechanism can release the cable quickly in the future, thereby making the subsequent increase in length of the connecting cable 4 adapt to the critical moving distance D and / or the instantaneous moving speed of the electric operating machine 2, and preventing the connecting cable 4 from being pulled.

[0119] Step S404: Obtain the wire feeding speed adjustment value.

[0120] In one embodiment of this application, step S404, obtaining the line-feeding speed adjustment value, further includes steps S901-S902, wherein:

[0121] Step S901: Obtain the current line-laying speed value;

[0122] Step S902: Calculate the line-laying speed adjustment value based on the current line-laying speed value and the moving trend index.

[0123] Specifically, in this embodiment, the current pay-off speed value is stored in the controller 5, which can retrieve it when needed. After retrieving the current pay-off speed value, the controller 5 can calculate the pay-off speed adjustment value according to the following formula:

[0124]

[0125] Among them, FX new Adjustment value for line laying speed; FX old This represents the current line-laying speed.

[0126] Step S405: Control the cable winding and unwinding mechanism to perform the cable winding and unwinding operation according to the cable winding speed adjustment value.

[0127] Specifically, after calculating the wire release speed adjustment value, the controller 5 adjusts the wire release speed of the cable winding and releasing mechanism from the current wire release speed value to the wire release speed adjustment value, so as to effectively avoid the power supply line being stretched by tension, which helps to extend the service life of the power supply device and ensure the stable operation of the electric operating machinery 2.

[0128] Another embodiment of this application provides a power supply device for supplying power to an electric work machine and includes:

[0129] Guide rails are installed at the top of the working space of the electric operating machinery;

[0130] A portable power bank that can be movably mounted on a guide rail;

[0131] A connecting cable, with its two ends electrically connected to a power source and an electric work machine located on the ground in the workspace, respectively; and

[0132] The controller is configured to perform the power supply method in the above embodiments.

[0133] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0134] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0135] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0136] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A power supply method, characterized in that, The power supply method is applied to a power supply device, which includes a guide rail, a mobile power supply, and a connecting cable for supplying power to the electric work machinery. The guide rail is located at the top of the workspace of the electric work machinery, and the mobile power supply is movably mounted on the guide rail. The two ends of the connecting cable are electrically connected to the mobile power supply and the electric work machinery located on the ground of the workspace, respectively. The method includes: Determine the operating mode of the electric work machinery; It has been determined that the connecting cable has been moved; Determine the direction of movement of the connecting cable; The movement amount of the mobile power supply is calculated based on the moving direction and the preset adjustment coefficient; Based on the amount of movement, the power bank is controlled to perform a movement operation; and... Obtain the critical moving distance and instantaneous moving speed of the electric working machine; The critical movement distance and the instantaneous movement rate are normalized to obtain normalized values ​​for the critical movement distance and instantaneous movement rate. The movement trend index is calculated based on the normalized value of the critical movement distance and the normalized value of the instantaneous movement rate; The advance response mode for activating the cable retraction mechanism of the mobile power supply is determined based on the movement trend index. The cable feeding speed of the cable take-up and feed mechanism is adjusted based on the movement trend index. Obtain the wire feeding speed adjustment value; The cable winding and unwinding mechanism is controlled to perform the cable winding operation according to the cable winding speed adjustment value.

2. The method according to claim 1, characterized in that, Determining that the connecting cable has moved includes: Acquire the detection signal sent by the cable movement detector; The detection signal is compared with a preset detection signal. If the detection signal is inconsistent with the preset detection signal, it is determined that the connecting cable has moved.

3. The method according to claim 2, characterized in that, Determining the direction of movement of the connecting cable includes: Obtain the correspondence between the detection signal and the direction of movement; The direction of movement is determined based on the detection signal and the corresponding relationship.

4. The method according to claim 1, characterized in that, The critical movement distance is obtained in the following way: Obtain the first three-dimensional coordinates of the mobile power supply, the second three-dimensional coordinates of the electric work machinery, and the total length of the connecting cable; The working area radius of the electric operating machine is calculated based on the first three-dimensional coordinates and the total length. The critical movement distance is calculated based on the radius of the working area and the second three-dimensional coordinates.

5. The method according to claim 1, characterized in that, The step of determining the advance response mode for activating the cable reel-in / out mechanism based on the movement trend index includes: Obtain the first preset threshold; The movement trend index is compared with the first preset threshold. If the movement trend index is greater than the first preset threshold, the early response mode of the cable reel-in / out mechanism is activated.

6. The method according to claim 5, characterized in that, The step of determining the cable release speed of the cable take-up and release mechanism based on the movement trend index includes: Obtain a second preset threshold, wherein the second preset threshold is not less than the first preset threshold; The movement trend index is compared with the second preset threshold. If the movement trend index is greater than the second preset threshold, the cable release speed of the cable take-up and release mechanism is adjusted.

7. The method according to claim 1, characterized in that, The process of obtaining the wire release speed adjustment value includes: Get the current line-laying speed value; The line-laying speed adjustment value is calculated based on the current line-laying speed value and the moving trend index.

8. A power supply device, characterized in that, The power supply device is used to supply power to the electric work machinery and includes: Guide rails are installed at the top of the working space of the electric operating machinery; A portable power bank is movably mounted on the guide rail; A connecting cable, the two ends of which are electrically connected to the mobile power source and the electric work machinery located on the ground of the workspace, respectively; and The controller is configured to perform the power supply method according to any one of claims 1-7.

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