Cable drum control method, device and management system

Abstract

The invention provides a cable drum control method and device and a management system. A positioning error is calculated according to satellite positioning and actual positioning so as to correct satellite positioning, and differential positioning data is collected to be used for calculating the linear distance between a target power supply vehicle and a target engineering vehicle; acquiring a target power supply vehicle side cable endpoint height, a target engineering vehicle side cable endpoint height, length data of a cable on a target engineering vehicle and unit mass of the cable; calculating the suspension length of the cable according to the length data and the linear distance, and calculating the mass of the suspension part of the cable based on the suspension length and the unit mass so as to calculate the tension for maintaining the sag of the cable; controlling a cable drum to take up and pay off the cable based on the tension for maintaining the sag of the cable, so that the cable is suspended in an ideal sag; the safety coefficient of cable suspension conveying is improved, and the problems that a conventional cable winding and unwinding device in a mining area is low in cable moving winding and unwinding reliability, potential safety hazards exist, and the cable winding and unwinding efficiency is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable drum control, and in particular to a cable drum control method, device and management system. Background Art

[0002] The cable reel is a cable winding device that provides power supply, control power supply or control signal for large mobile equipment.

[0003] Conventional cable reels need to be manually coiled. The working surface is uneven and there are stones, which can easily cause cable workers to slip and fall. The temperature is low in winter, and the cables are stiff and difficult to bend. Workers are easily injured by the cables when reeling them. The cables are also easily damaged and leaked when dragged on the ground, posing a risk of electric shock, resulting in low safety and reliability.

[0004] Conventional cable reels have limited cable receiving and sending distances, which seriously affects effective operating time and causes low efficiency.

[0005] The prior art uses suspended cable retraction and release. During the process of suspended cable retraction and release, the cable sag is an important indicator of the cable reel control retraction and release effect. The value is directly related to the safety of the reel cable retraction and release operation. When the sag is too small, the stress on the cable is large, the vibration of the cable will be aggravated, and the safety factor will be reduced; when the sag is too large, the safe distance between the cable and the ground or the cross-ground object becomes smaller, which will also lead to a decrease in the safety factor. Summary of the invention

[0006] The present invention provides a cable reel control method, device and management system, the purpose of which is to improve the safety factor of cable hanging retraction and extension.

[0007] In order to achieve the above object, the present invention provides a cable reel control method, wherein a first end of a cable is inserted into a power cabinet of a target power supply vehicle, and the other end of the cable is wound on a cable reel of a target engineering vehicle, comprising:

[0008] Step 1: Calculate the positioning error based on the satellite positioning of the target power supply vehicle and the actual positioning, and use the positioning error to correct the satellite positioning. The target engineering vehicle collects differential positioning data based on the corrected satellite positioning;

[0009] Step 2, calculating the straight-line distance between the target power supply vehicle and the target engineering vehicle based on the differential positioning data;

[0010] Step 3, collecting the height of the first cable end point on the target power supply vehicle side, the height of the second cable end point on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable;

[0011] Step 4, according to the length data of the cable and the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length of the cable is calculated, and based on the suspended length and the unit mass of the cable, the mass of the suspended part of the cable is calculated;

[0012] Step 5, calculating the tension for maintaining the cable sag based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length, and the mass of the suspended portion of the cable;

[0013] Step 6, based on the tension of maintaining the sag of the cable, the cable reel is controlled to retract and release the cable, so that the cable is suspended above the target power supply vehicle and the target engineering vehicle with an ideal sag.

[0014] More specifically, step 5 includes:

[0015] Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, and the straight-line distance between the target power supply vehicle and the target engineering vehicle, a first suspended cable curve equation is constructed, and the first suspended cable curve equation is solved to obtain a first control parameter;

[0016] Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, and the first control parameter, a second suspended cable curve equation is constructed, and the second suspended cable curve equation is solved to obtain a second control parameter;

[0017] Construct a tension calculation expression based on a preset cable sag, a first cable endpoint height, a second cable endpoint height, a straight-line distance between a target power supply vehicle and a target engineering vehicle, a suspended length, a mass of a suspended portion of the cable, a first control parameter, and a second control parameter;

[0018] The tension for maintaining the preset cable sag is calculated based on the tension calculation expression.

[0019] Specifically, the equation of the first suspended cable curve is:

[0020]

[0021] Among them, h1 represents the preset cable verticality, H represents the height of the first cable endpoint, h represents the height of the second cable endpoint, L represents the straight-line distance between the target power supply vehicle and the target engineering vehicle, and a represents the first control parameter.

[0022] Further, the equation of the second suspended cable curve is:

[0023]

[0024] Wherein, C represents the second control parameter.

[0025] Further, the tension calculation expression is:

[0026]

[0027] Among them, F1 represents the tension for maintaining the preset cable sag, s represents the suspended length, G represents the mass of the suspended part of the cable, and x1 represents the horizontal position of the target engineering vehicle in the rectangular coordinate system.

[0028] The present invention also provides a cable reel control device, comprising a control module for executing the cable reel control method, an information acquisition module, a drive module, and a three-phase asynchronous motor;

[0029] An information acquisition module is provided on the target power supply vehicle and the target engineering vehicle, and is used to obtain the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, the unit mass of the cable, and the differential positioning data between the target power supply vehicle and the target engineering vehicle;

[0030] The output end of the information acquisition module is connected to the input end of the control module;

[0031] The output end of the control module is connected to the input end of the drive module;

[0032] The output end of the drive module is connected to the control end of the three-phase asynchronous motor;

[0033] The rotating shaft of the three-phase asynchronous motor is mechanically connected to the transmission shaft of the cable drum.

[0034] Further, the information acquisition module includes: a GPS differential positioning unit, a first laser height ranging unit, a second laser height ranging unit, and an absolute value encoder unit;

[0035] The GPS differential positioning unit is arranged inside the target power supply vehicle and the target engineering vehicle, and is used to obtain differential positioning data of the target power supply vehicle and the target engineering vehicle;

[0036] The first laser height ranging unit is arranged directly above the frame of the target power supply vehicle and is used to obtain the height of the first cable end point on the target power supply vehicle side;

[0037] The second laser height ranging unit is arranged directly above the frame of the target engineering vehicle and is used to obtain the height of the second cable end point on the target engineering vehicle side;

[0038] The absolute encoder unit is arranged on the transmission shaft of the reel and is used to obtain the length data of the cable on the target engineering vehicle;

[0039] The output end of the GPS differential positioning unit, the output end of the first laser height ranging unit, the output end of the second laser height ranging unit, and the output end of the absolute value encoder unit are all connected to the input end of the control module.

[0040] Further, the GPS differential positioning unit includes a base station GPS component and a mobile station GPS component;

[0041] The base station GPS component is installed inside the target power supply vehicle to obtain the satellite positioning and actual position of the target power supply vehicle to calculate the positioning error;

[0042] The mobile station GPS component is installed inside the target engineering vehicle, and the input end of the mobile station GPS component is connected to the output end of the base station GPS component, so as to correct the satellite positioning according to the positioning error, so as to collect differential positioning data according to the corrected satellite positioning;

[0043] The output terminal of the mobile station GPS component is connected to the input terminal of the controller for sending the differential positioning data to the control module.

[0044] The present invention also provides a cable drum suspended retracting and releasing management system, comprising a power module and a cable drum control device, wherein the power module is electrically connected to the cable drum control device.

[0045] The above scheme of the present invention has the following beneficial effects:

[0046] The present invention calculates a positioning error based on satellite positioning and actual positioning, and uses the positioning error to correct satellite positioning to collect differential positioning data; calculates the straight-line distance between a target power supply vehicle and a target engineering vehicle based on the differential positioning data; collects the height of a first cable endpoint on the target power supply vehicle side, the height of a second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable; calculates the suspended length of the cable based on the length data of the cable and the straight-line distance between the target power supply vehicle and the target engineering vehicle, and calculates the mass of the suspended portion of the cable based on the suspended length and the unit mass of the cable; calculates the mass of the suspended portion of the cable based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length of the cable, .... The length and mass of the suspended part of the cable are used to calculate the tension for maintaining the sag of the cable; the cable reel is controlled to retract and release the cable based on the tension for maintaining the sag of the cable, so that the cable is suspended above the target power supply vehicle and the target engineering vehicle with an ideal sag; compared with the prior art, the suspended length and constant tension are calculated based on the straight-line distance between the target power supply vehicle and the target engineering vehicle, the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable to maintain the preset sag, so that the sag is always in an ideal state, thereby improving the safety factor of cable suspension transportation and solving the problems of low reliability of cable movement and release, potential safety hazards, and low efficiency of cable release and retracting in conventional cable reeling devices in mining areas.

[0047] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of an application scenario of an embodiment of the present invention;

[0049] Figure 2 It is a schematic diagram of a flow chart of an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of a cable reel control device in an embodiment of the present invention;

[0051] Figure 4 is a principle block diagram of an information acquisition module in an embodiment of the present invention;

[0052] Figure 5 It is a principle block diagram of the GPS differential positioning unit in an embodiment of the present invention.

[0054] 1- Target power supply vehicle 2- Target engineering vehicle 3- Power supply cabinet 4- Cable reel 5- Cables. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0059] In view of the existing problems, the present invention provides a cable reel control method, device and management system.

[0060] like Figure 1 As shown, an embodiment of the present invention provides a cable reel control method, wherein a first end of a cable 5 is inserted into a power cabinet 3 of a target power supply vehicle 1, and the other end of the cable 5 is wound on a cable reel 4 of a target engineering vehicle 2, as shown in FIG. Figure 2 As shown, the cable drum control method includes:

[0061] Step 1: Calculate the positioning error based on the satellite positioning of the target power supply vehicle and the actual positioning, and use the positioning error to correct the satellite positioning. The target engineering vehicle collects differential positioning data based on the corrected satellite positioning;

[0062] Step 2, calculating the straight-line distance between the target power supply vehicle and the target engineering vehicle based on the differential positioning data;

[0063] Step 3, collecting the height of the first cable end point on the target power supply vehicle side, the height of the second cable end point on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable;

[0064] Step 4, according to the length data of the cable and the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length of the cable is calculated, and based on the suspended length and the unit mass of the cable, the mass of the suspended part of the cable is calculated;

[0065] Step 5, calculating the tension for maintaining the cable sag based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length, and the mass of the suspended portion of the cable;

[0066] Step 6, based on the tension of maintaining the verticality of the cable, the cable reel is controlled to retract and release the cable, so that the cable is suspended above the target power supply vehicle and the target engineering vehicle.

[0067] Specifically, a power cabinet is installed on the top of the bracket of the target power supply vehicle to provide high-voltage power supply, a cable reel is installed on the top of the bracket of the target engineering vehicle, one end of the cable is connected to the cable fixing part on the cable reel, and part of the cable is coiled on the cable reel, and the other end of the cable is inserted into the power cabinet through a cable connector, so that the cable is arranged between the target power supply vehicle and the target engineering vehicle, wherein the height of the first cable end point on the target power supply side is the height of the position where the power cabinet and the cable are connected, and the height of the second cable end point on the target engineering vehicle side is the height of the center position of the cable reel.

[0068] Specifically, the differential positioning data is the positioning data of the target power supply vehicle and the positioning data of the target engineering vehicle. The straight-line distance between the target power supply vehicle and the target engineering vehicle can be obtained by subtracting the positioning data of the two.

[0069] In an embodiment of the present invention, the mass of the unwound cable reel is subtracted from the mass of the wound cable reel to obtain the mass of the cable wound on the cable reel. Then, the mass of the cable wound on the cable reel is divided by the unit mass of the cable to calculate the length data of the cable on the target engineering vehicle.

[0070] Specifically, step 4 includes:

[0071] According to the total cable length L1 when the cable drum is full and the current remaining cable length L2 of the drum, the suspended length of the cable is calculated as:

[0072] s=L1-L2

[0073] Based on the suspended length s and the unit mass g of the cable, the mass G of the suspended part of the cable is calculated as:

[0074] G=sg.

[0075] Specifically, step 5 includes:

[0076] Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, and the straight-line distance between the target power supply vehicle and the target engineering vehicle, a first suspended cable curve equation is constructed, and the first suspended cable curve equation is solved to obtain a first control parameter;

[0077] Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, and the first control parameter, a second suspended cable curve equation is constructed, and the second suspended cable curve equation is solved to obtain a second control parameter;

[0078] Constructing a tension calculation expression based on a preset cable sag, a first cable endpoint height, a second cable endpoint height, a straight-line distance between a target power supply vehicle and a target engineering vehicle, a suspended length, a mass of a suspended portion of the cable, a first control parameter, and a second control parameter;

[0079] The tension for maintaining the preset cable sag is calculated based on the tension calculation expression.

[0080] Specifically, the equation of the first suspended cable curve is:

[0081]

[0082] Among them, h1 represents the preset cable verticality, H represents the height of the first cable endpoint, h represents the height of the second cable endpoint, L represents the straight-line distance between the target power supply vehicle and the target engineering vehicle, and a represents the first control parameter.

[0083] Specifically, the equation of the second suspended cable curve is:

[0084]

[0085] Wherein, C represents the second control parameter.

[0086] Specifically, the tension calculation expression is:

[0087]

[0088] Among them, F1 represents the tension for maintaining the preset cable sag, s represents the suspended length, G represents the mass of the suspended part of the cable, and x1 represents the horizontal position of the target engineering vehicle in the rectangular coordinate system.

[0089] The embodiment of the present invention calculates the positioning error based on the satellite positioning and the actual positioning, and uses the positioning error to correct the satellite positioning to collect differential positioning data; calculates the straight-line distance between the target power supply vehicle and the target engineering vehicle based on the differential positioning data; collects the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable; calculates the suspended length of the cable based on the length data of the cable and the straight-line distance between the target power supply vehicle and the target engineering vehicle, and calculates the mass of the suspended part of the cable based on the suspended length and the unit mass of the cable; calculates the mass of the suspended part of the cable based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, and the suspended length and the mass of the suspended part of the cable, calculate the tension for maintaining the sag of the cable; based on the tension for maintaining the sag of the cable, control the cable reel to retract and release the cable, so that the cable is suspended above the target power supply vehicle and the target engineering vehicle with an ideal sag; compared with the prior art, the embodiment of the present invention combines the straight-line distance between the target power supply vehicle and the target engineering vehicle, the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable to calculate the suspended length and constant tension to maintain the preset sag, so that the sag is always in an ideal state, thereby improving the safety factor of cable suspension transportation, and solving the problems of low reliability of cable movement and release, potential safety hazards, and low efficiency of cable release and retracting in conventional cable reeling devices in mining areas.

[0090] like Figure 3 As shown, an embodiment of the present invention further provides a cable reel control device, including a control module for executing a cable reel control method, an information acquisition module, a drive module, and a three-phase asynchronous motor;

[0091] An information acquisition module is provided on the target power supply vehicle and the target engineering vehicle, and is used to obtain the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, the unit mass of the cable, and the differential positioning data between the target power supply vehicle and the target engineering vehicle;

[0092] The output end of the information acquisition module is connected to the input end of the control module;

[0093] The output end of the control module is connected to the input end of the drive module;

[0094] The output end of the drive module is connected to the control end of the three-phase asynchronous motor;

[0095] The rotating shaft of the three-phase asynchronous motor is mechanically connected to the transmission shaft of the cable drum.

[0096] In an embodiment of the present invention, the control module is a PLC programmable controller, which is connected to the information acquisition module via a 485 communication method; the drive module is a frequency converter, and the PLC programmable controller sends corresponding message texts and transmits corresponding torque instructions and operation instructions to the frequency converter via bus communication to control the frequency converter to drive the three-phase asynchronous motor.

[0097] Specifically, if Figure 4 As shown, the information acquisition module includes: a GPS differential positioning unit, a first laser height ranging unit, a second laser height ranging unit, and an absolute value encoder unit;

[0098] The GPS differential positioning unit is arranged inside the target power supply vehicle and the target engineering vehicle, and is used to obtain differential positioning data of the target power supply vehicle and the target engineering vehicle;

[0099] The first laser height ranging unit is arranged directly above the frame of the target power supply vehicle and is used to obtain the height of the first cable end point on the target power supply vehicle side;

[0100] The second laser height ranging unit is arranged directly above the frame of the target engineering vehicle and is used to obtain the height of the second cable end point on the target engineering vehicle side;

[0101] The absolute encoder unit is arranged on the transmission shaft of the reel and is used to obtain the length data of the cable on the target engineering vehicle;

[0102] The output end of the GPS differential positioning unit, the output end of the first laser height ranging unit, the output end of the second laser height ranging unit, and the output end of the absolute value encoder unit are all connected to the input end of the control module.

[0103] Most preferably, the GPS differential positioning unit is specifically used to calculate the positioning error based on the satellite positioning and actual positioning of the target power supply vehicle, and use the positioning error to correct the satellite positioning, and the target engineering vehicle collects differential positioning data based on the corrected satellite positioning.

[0104] Specifically, the GPS differential positioning unit includes a base station GPS component and a mobile station GPS component;

[0105] The base station GPS component is installed inside the target power supply vehicle to obtain the satellite positioning and actual position of the target power supply vehicle to calculate the positioning error;

[0106] The mobile station GPS component is installed inside the target engineering vehicle, and the input end of the mobile station GPS component is connected to the output end of the base station GPS component, so as to correct the satellite positioning according to the positioning error, so as to collect differential positioning data according to the corrected satellite positioning;

[0107] The output terminal of the mobile station GPS component is connected to the input terminal of the controller for sending the differential positioning data to the control module.

[0108] It should be noted that if Figure 5 As shown in (a), the base station GPS component includes a GPS antenna, a GPS receiver, a data transmission radio, a power amplifier, and a communication antenna connected in sequence; Figure 5 As shown in (b), the mobile station GPS component includes a GPS antenna, a GPS receiver, a data transmission radio, and a communication antenna connected in sequence, wherein another output end of the GPS receiver is connected to the input end of the control module for sending high-precision differential positioning data to the control module.

[0109] An embodiment of the present invention further provides a cable reel management system, including a power module and a cable reel control device, wherein the power module is electrically connected to the cable reel control device.

[0110] In an embodiment of the present invention, the power module includes a power cabinet, a cable connector, a winding cable, and a cable reel. The power cabinet is installed on the top of the bracket of the target power supply vehicle and is used to provide high-voltage power supply. The cable reel is installed on the top of the bracket of the target engineering vehicle. One end of the cable is connected to the cable fixing part on the cable reel, and part of the cable is wound on the cable reel. The other end of the cable is inserted into the power cabinet through the cable connector, so that the cable is arranged between the target power supply vehicle and the target engineering vehicle, and the power cabinet supplies power to the cable reel control device through the cable.

[0111] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cable drum control method, characterized in that: The first end of the cable is inserted into the power cabinet of the target power supply vehicle, and the other end of the cable is wound on the cable drum of the target engineering vehicle, including: Step 1, calculating the positioning error according to the satellite positioning and actual positioning of the target power supply vehicle, and using the positioning error to correct the satellite positioning, and the target engineering vehicle collecting differential positioning data according to the corrected satellite positioning; Step 2, calculating the straight-line distance between the target power supply vehicle and the target engineering vehicle according to the differential positioning data; Step 3, collecting the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, and the unit mass of the cable; Step 4, calculating the suspended length of the cable according to the length data of the cable and the straight-line distance between the target power supply vehicle and the target engineering vehicle, and calculating the mass of the suspended portion of the cable based on the suspended length and the unit mass of the cable; Step 5, calculating the tension for maintaining the cable sag based on the preset cable sag, the first cable endpoint height, the second cable endpoint height, the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length, and the mass of the suspended portion of the cable; Step 6, controlling the cable reel to retract and release the cable based on the tension for maintaining the sag of the cable, so that the cable is suspended above the target power supply vehicle and the target engineering vehicle with an ideal sag.

2. The cable reel control method according to claim 1, characterized in that: The step 5 comprises: Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, and the straight-line distance between the target power supply vehicle and the target engineering vehicle, a first suspended cable curve equation is constructed, and the first suspended cable curve equation is solved to obtain a first control parameter; Based on the preset cable sag, the height of the first cable endpoint, the height of the second cable endpoint, the straight-line distance between the target power supply vehicle and the target engineering vehicle, and the first control parameter, a second suspended cable curve equation is constructed, and the second suspended cable curve equation is solved to obtain a second control parameter; Constructing a tension calculation expression based on a preset cable sag, the first cable endpoint height, the second cable endpoint height, the straight-line distance between the target power supply vehicle and the target engineering vehicle, the suspended length, the mass of the suspended portion of the cable, the first control parameter, and the second control parameter; The tension for maintaining a preset cable sag is calculated based on the tension calculation expression.

3. The cable reel control method according to claim 2, characterized in that: The equation of the first suspended cable curve is: Among them, h1 represents the preset cable verticality, H represents the height of the first cable endpoint, h represents the height of the second cable endpoint, L represents the straight-line distance between the target power supply vehicle and the target engineering vehicle, and a represents the first control parameter.

4. The cable reel control method according to claim 3, characterized in that: The equation of the second suspended cable curve is: Wherein, c represents the second control parameter.

5. The cable reel control method according to claim 4, characterized in that: The tension calculation expression is: Among them, F1 represents the tension for maintaining the preset cable sag, s represents the suspended length, G represents the mass of the suspended part of the cable, and x1 represents the horizontal position of the target engineering vehicle in the rectangular coordinate system.

6. A cable reel control device, characterized in that: It comprises a control module, an information acquisition module, a drive module, and a three-phase asynchronous motor for executing the cable reel control method according to any one of claims 1 to 5; The information acquisition module is arranged on the target power supply vehicle and the target engineering vehicle, and is used to obtain the height of the first cable endpoint on the target power supply vehicle side, the height of the second cable endpoint on the target engineering vehicle side, the length data of the cable on the target engineering vehicle, the unit mass of the cable, and the differential positioning data between the target power supply vehicle and the target engineering vehicle; The output end of the information acquisition module is connected to the input end of the control module; The output end of the control module is connected to the input end of the driving module; The output end of the driving module is connected to the control end of the three-phase asynchronous motor; The rotating shaft of the three-phase asynchronous motor is mechanically connected to the transmission shaft of the cable drum.

7. The cable drum control device according to claim 6, characterized in that: The information acquisition module includes: a GPS differential positioning unit, a first laser height ranging unit, a second laser height ranging unit, and an absolute value encoder unit; The GPS differential positioning unit is arranged inside the target power supply vehicle and the target engineering vehicle, and is used to obtain differential positioning data of the target power supply vehicle and the target engineering vehicle; The first laser height ranging unit is arranged just above the frame of the target power supply vehicle and is used to obtain the height of the first cable end point on the target power supply vehicle side; The second laser height ranging unit is arranged directly above the frame of the target engineering vehicle and is used to obtain the height of the second cable end point on the target engineering vehicle side; The absolute value encoder unit is arranged on the transmission shaft of the reel and is used to obtain the length data of the cable on the target engineering vehicle; The output end of the GPS differential positioning unit, the output end of the first laser height ranging unit, the output end of the second laser height ranging unit, and the output end of the absolute value encoder unit are all connected to the input end of the control module.

8. The cable drum control device according to claim 7, characterized in that: The GPS differential positioning unit includes a reference station GPS component and a mobile station GPS component; The reference station GPS component is installed inside the target power supply vehicle and is used to obtain the satellite positioning and actual position of the target power supply vehicle to calculate the positioning error; The mobile station GPS component is installed inside the target engineering vehicle, and the input end of the mobile station GPS component is connected to the output end of the reference station GPS component, and is used to correct the satellite positioning according to the positioning error, so as to collect differential positioning data according to the corrected satellite positioning; The output end of the mobile station GPS component is connected to the input end of the controller for sending the differential positioning data to the control module.

9. A cable reel management system, comprising a power module, characterized in that: It comprises the cable reel control device as claimed in claim 6, wherein the power module is electrically connected to the cable reel control device.

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