Cable deviation rectifying and arranging method and device

Abstract

The invention belongs to the technical field of cable deviation rectification, and particularly discloses a cable deviation rectification and arrangement method and device, and the cable deviation rectification and arrangement method comprises the following steps: detecting the real-time stress information and real-time position information of a cable; the position deviation of the cable is calculated based on preset cable expected position information and the real-time stress information and position information of the cable, and the real-time cable arranging speed and posture of the cable are adjusted based on the position deviation and the cable arranging speed information of the cable at the current moment, so that the cable reaches the expected position within unit time and is vertically output. According to the cable deviation rectifying and arranging method, high-quality automatic arranging of the cables can be safely and reliably carried out.

Description

Technical Field

[0001] The present application belongs to the technical field of cable deviation correction, and more specifically, to a cable deviation correction and wiring arrangement method and device. Background Art

[0002] Optical cable arrangement is one of the important links in the optical cable manufacturing process. The requirement is to control the optical cables to be received on the optical cable take-up mechanism (such as a reel) in a tight left-right arrangement and ensure that the optical cables are arranged neatly.

[0003] In the related technologies, for optical cables with softer cable structures and thinner cable diameters, not only are the cable arrangements required to be neat and stable, but the cable appearance must also be guaranteed to be free of damage. However, the cable arrangement function of traditional take-up racks is basically difficult to achieve, and operators are often required to manually lay the cables. This manual operation is time-consuming and difficult. Not only is there a risk of the operator's hand being brought into the reel when pressing the optical cable, but the cable arrangement quality is also difficult to guarantee, and improvement is urgently needed. Summary of the invention

[0004] In response to the defects or improvement needs of the prior art, the present application provides a cable deviation correction and wiring arrangement method and device, which aims to safely and reliably perform high-quality automatic wiring of cables.

[0005] The present application provides a cable deviation correction and wiring method, which specifically includes the following steps: Detect the real-time force information and real-time position information of the cable; The position deviation of the cable is calculated based on the preset expected cable position information, the real-time force information and the real-time position information of the cable, and the real-time cable arrangement speed and posture of the cable are adjusted based on the position deviation and the cable arrangement speed information at the current moment, so that the cable reaches the expected position within a unit time and is output vertically.

[0006] Through the above technical scheme conceived by the present application, compared with the prior art, this scheme detects the force conditions of the cable during routing, calculates the possible changes in the cable position, and then adjusts the routing speed and posture of the cable based on the force results before the change, so that the cable reaches the desired position within a unit time and is output vertically. The vertically output cable will then automatically form a spiral shape based on the influence of the previous circle of cable on the surface of the take-up mechanism, so as to achieve high-quality automatic arrangement of the cable.

[0007] Compared with the traditional real-time manual cable adjustment solution, this solution can automatically adjust the cable arrangement status, which can reduce labor costs and ensure personnel safety; compared with the traditional laser ranging correction adjustment solution, this solution can perform correction adjustment before the cable deviates, thereby ensuring that the cable will not undergo large posture changes from beginning to end, which enables the cable to be automatically and regularly input into the take-up mechanism for winding and arranging, ensuring high-quality cable winding.

[0008] As a further preferred method, adjusting the real-time cable arrangement speed and posture of the cable based on the position deviation and the cable arrangement speed information at the current moment includes: Based on the position deviation and the cable arrangement speed information at the current moment, a first control input value is calculated by a preset PID calculation formula; The real-time cable traversing speed and posture of the cable are adjusted based on the first control input value.

[0009] As a further preferred method, adjusting the real-time cable arranging speed and posture of the cable based on the position deviation and the cable arranging speed information at the current moment also includes: constructing a quadratic cost function based on the real-time cable position information, the cable desired position information and the first control input value; An optimal control law is obtained based on the quadratic cost function, a second control input value is obtained based on the optimal control law, and the real-time cable arrangement speed and posture are further adjusted according to the second control input value.

[0010] As further preferred, the method further comprises the steps of: A system model related to the cable status is constructed, and the future trajectory of the cable is predicted based on the system model and a pre-built prediction model. When the actual trajectory of the cable is consistent with the future trajectory, the cable is controlled to be arranged according to the predicted future trajectory.

[0011] As a further preferred method, a system model related to the cable status is constructed, and the future trajectory of the cable is predicted based on the system model and a pre-constructed prediction model, including: constructing a system model based on the second control input value, and constructing an expected cost function based on the system model and a pre-constructed prediction model; Based on the expected cost function, an optimal control input value and prediction information about the future trajectory of the cable are obtained, and the cable is adjusted according to the optimal control input value so that the actual trajectory of the cable approaches the future trajectory.

[0012] The second aspect of the present application provides a cable deviation correction and wiring device that adopts the following technical solution: A cable deviation correction and wiring device, comprising: A cable routing mechanism, used to guide and output cables; A power module, used for driving the cable arrangement mechanism to move, so as to adjust the output position and posture of the cable when it is output from the cable arrangement mechanism; A detection module, used to detect the real-time force information and position information of the cables in the cable arrangement mechanism; The control module is connected to the power module and the detection module, and is used to obtain the current cable arrangement speed information when the power module drives the cable arrangement mechanism to displace, and to calculate the position deviation of the cable based on the preset expected cable position information, the real-time force information and position information of the cable, and adjust the power module based on the position deviation and the current cable arrangement speed information of the cable, so that the cable in the cable arrangement mechanism reaches the expected position within a unit time and is output vertically.

[0013] As a further preference, the cable deflection correction and arranging device further comprises a wire taking-up mechanism for taking up the cable output by the wire arranging mechanism, and the detection module is further used to adjust the start and stop and the winding speed of the wire taking-up mechanism based on the detection information of the detection module.

[0014] As further preferred, the cable arrangement mechanism includes a cable arrangement frame and a wire assembly, and the wire assembly is connected to the cable arrangement frame and is used to guide the cables.

[0015] As further preferred, the conductor assembly comprises at least one guide roller for guiding the cable, and / or a wheel assembly for guiding the cable consisting of at least two cable clamping rollers distributed up and down or staggered.

[0016] As further preferred, the device includes the following control modes: In the edge mode, when the detection module detects that the cable has reached the preset end of the travel, the control module controls the power module to stop the displacement and cable arrangement of the cable arrangement mechanism until the cable is wound twice; In the off-edge mode, after the cable is wound twice, the control module controls the power module to drive the cable arranging mechanism away from the end of the stroke, and the control module adjusts the moving speed of the cable arranging mechanism in real time by controlling the driving module, so that the cable in the cable arranging mechanism reaches the desired position within a unit time and is output vertically.

[0017] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art: 1. This solution detects the force conditions of the cable during routing, calculates the possible changes in the cable position, and then adjusts the routing speed and posture of the cable based on the force results before the change, so that the cable reaches the desired position within a unit time and is output vertically. The vertically output cable will automatically form a spiral shape based on the influence of the previous circle of cable on the surface of the take-up mechanism, so as to achieve high-quality automatic arrangement of the cable.

[0018] 2. This solution uses the expected cable position information, the real-time force information, the position information and the current cable arrangement speed information of the cable as input values. By executing the linear deviation adjustment algorithm, the LQR algorithm and the MPC algorithm, the cable arrangement speed and posture can be adjusted accurately, quickly and stably, and the automatic cable arrangement operation of cables with particularly small diameter and softness can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a cable deviation correction and wiring method provided in an embodiment of the present application; Figure 2 is a further flow chart of a cable deviation correction and wiring method provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of a cable deflection correction and wiring device provided in an embodiment of the present application; Figure 4 It is a structural schematic diagram of a cable arrangement mechanism and a detection module provided in an embodiment of the present application.

[0020] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Wire arrangement frame; 2. Guide roller; 3. Cable clamping roller; 4. Upper cantilever; 5. Lower cantilever; 6. Frame; 7. Tension sensor; 8. Distance sensor; 9. Wire taking-up mechanism. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0023] The present application embodiment discloses a cable deviation correction and wiring method, referring to Figure 1 , the method comprises the following steps: S1: Detect the real-time force and position information of the cable.

[0024] S2: Calculate the position deviation of the cable based on the preset expected cable position information, the real-time force information and the real-time position information of the cable, and adjust the real-time cable arrangement speed and posture of the cable based on the position deviation and the cable arrangement speed information at the current moment, so that the cable reaches the expected position within a unit time and is output vertically.

[0025] Among them, the cable is guided and output through the cable arranging mechanism, and the cable is received and wound through the wire taking-up mechanism; the cable arranging mechanism is driven by the power module, and the power module drives the cable arranging mechanism to move, so as to adjust the output position and posture of the cable when it is output from the cable arranging mechanism to the wire taking-up mechanism; the real-time force information and real-time position information of the cable are obtained through detection by the detection module; the cable routing speed information is obtained through information interaction between the control module and the power module.

[0026] Under this design, this solution detects the force conditions of the cable during routing, calculates the possible changes in the cable position, and then adjusts the routing speed and posture of the cable based on the force results before the change (that is, the cable routing speed is adjusted by adjusting the speed at which the power module drives the cable arrangement mechanism to move, and when the cable arrangement mechanism drives the cable to move, the cable posture is adjusted by the real-time guiding effect of the cable arrangement mechanism), so that the cable reaches the desired position within a unit time and is output vertically, and the vertically output cable will automatically form a spiral shape based on the influence of the previous circle of cable on the surface of the take-up mechanism, so as to achieve high-quality cable arrangement.

[0027] Compared with the traditional real-time manual adjustment scheme, this scheme can automatically adjust the cable arrangement status, which can reduce labor costs and ensure personnel safety; compared with the traditional laser ranging correction adjustment scheme, this scheme can perform correction adjustment before the cable deviates, thereby ensuring that the cable will not undergo large posture changes from beginning to end, which enables the cable to be automatically and regularly input into the take-up mechanism for winding and arrangement, ensuring high-quality cable winding.

[0028] Further, in some embodiments, Figure 2 As shown, the method also includes: S3: Build a system model related to the cable status, predict the future trajectory of the cable based on the system model and a pre-built prediction model, and when the actual trajectory of the cable is consistent with the future trajectory, control the cable to arrange according to the predicted future trajectory.

[0029] In some specific embodiments, when the cable is corrected, the position deviation of the cable is calculated based on the preset expected cable position information, the real-time force information of the cable, and the real-time position information, and then the linear deviation adjustment algorithm (the linear deviation adjustment algorithm is an algorithm based on PID (proportional-integral-differential) control) and the LQR algorithm are used to adjust the cable arrangement speed and posture in combination with the cable arrangement speed information at the current moment. Then, the MPC algorithm is also executed based on the LQR algorithm and the pre-built prediction model, and the control module of the cable arrangement speed and posture is optimized by the MPC algorithm.

[0030] The linear deviation adjustment algorithm used specifically includes: Based on the position deviation and the current cable arranging speed information of the cable, a first control input value is calculated by a preset PID calculation formula.

[0031] The real-time cable arrangement speed and posture of the cable are adjusted based on the first control input value, so that the cable reaches a desired position in a vertical output direction within a unit time.

[0032] In the system constructed based on the algorithm of this method, the cable arrangement offset information (generally the offset in the lateral displacement direction required for cable arrangement, i.e. the Y-axis direction described later) is calculated based on the current position information and force information of the cable, and then the position deviation is calculated based on the cable arrangement offset information and the preset cable expected position information, and then the position deviation and the expected position information are used as input data, and the data is processed based on the PID control strategy and feedback mechanism, and the first control input value acting on the power module to adjust the cable arrangement speed is calculated and output. At the same time, the first control input value and the PID parameters in the PID control strategy are synchronously used as LQR algorithm inputs.

[0033] Among them, the PID operation formula in data processing mainly includes three data parts: proportional part, integral part and differential part, which can be specifically expressed as the following operation formula:

[0034] in, represents the first control input value, Represents the proportional part, parameter represents the proportional gain, represents the integral part, parameter represents the integral gain, represents the differential part, parameter represents the differential gain, represents the deviation at time t (i.e. position deviation), t Indicates time.

[0035] It can be understood that the proportional part is proportional to the current deviation and is used to quickly reduce the deviation. The integral part is proportional to the accumulation of deviations and is used to eliminate long-term deviations to ensure that the system can eventually reach the expected value (that is, the expected cable position information mentioned above). The differential part is proportional to the rate of change of deviations and is used to predict future deviations and improve system response speed and stability.

[0036] In addition, the feedback mechanism used in the data processing process can dynamically adjust the cable expected position information and the parameters in the PID calculation formula according to the real-time cable control effect (such as overshoot, oscillation, etc.) and the real-time status of the cable (such as cable speed, acceleration, etc.). Generally speaking, the parameters and preset values ​​in the initial PID calculation (such as the cable expected position information) are manually changed and set by personnel based on parameters such as cable diameter. When running the algorithm, the linear deviation algorithm will dynamically adjust the PID parameters.

[0037] The LQR algorithm used specifically includes: A quadratic cost function is constructed based on the real-time cable position information, the cable desired position information and the first control input value.

[0038] The optimal control law is obtained based on the quadratic cost function.

[0039] A second control input value is obtained based on the optimal control law; wherein the second control input value includes a speed control value for controlling the real-time displacement data of the cable, and a new parameter adjustment value (i.e., a new PID operation parameter) for adjusting the PID parameters in the system, and the real-time cable arrangement speed and posture are further adjusted according to the speed control value, and the PID operation formula is updated according to the new PID operation parameters.

[0040] In practice, the operation logic of the LQR algorithm is an optimal control strategy that aims to minimize a quadratic cost function. In the LQR algorithm, the algorithm input data is based on the system state (including the current cable position information and force information), the expected state (including the expected position information of the cable) and the first control input value of the linear deviation adjustment algorithm. A quadratic cost function is constructed according to the pre-constructed system model and the expected state. The optimal control law is obtained by solving the Riccati equation. Then, the optimal control input value (i.e., the second control input value) is calculated according to the optimal control law. The second control input value will directly act on the system to further adjust the position of the cable. At the same time, the PID operation formula is updated based on the parameter adjustment value in the second control input value, and the second control input value is also used as the input information of the MPC algorithm.

[0041] It should be noted that when the drive module uses a cable arranging motor as a driving source and drives the cable arranging mechanism to move along the lateral cable arranging direction of the take-up mechanism to arrange the cable, the first control input value can be equivalently regarded as the speed of the cable arranging motor. The second control input value includes the speed of the cable arranging motor and the parameters in the PID calculation formula. In the actual control strategy, the second control input value is calculated based on the first control input value, and the speed control of the cable arranging motor involved in the second control input value is used to perform fine adjustment of the real-time cable arranging speed and posture.

[0042] Generally speaking, the main operation logic of the MPC algorithm used is: A system model is constructed based on the second control input value (the system model is usually used to describe the dynamic characteristics of the controlled object and the relationship between its input and output, and can be constructed in the form of a state space model, a transfer function, etc. The specific construction principle is existing technology and will not be elaborated here), and an expected cost function is constructed according to the system model and a pre-constructed prediction model (usually a mathematical model that describes the future behavior of the system).

[0043] Based on the expected cost function, the optimal control input value and the prediction information about the future cable arrangement trajectory are obtained. The optimal control input value is input into the LQR algorithm as the reference information for the LQR algorithm to calculate the second control input value. The prediction information is input into the expected cost function to update the input information of the expected cost function. Generally speaking, adjusting the cable according to the optimal control input value can control the actual trajectory of the cable to approach the future trajectory.

[0044] In practice, the operation logic of the MPC algorithm is mainly as follows: based on the pre-built prediction model, the behavior in the future is predicted, and the control input is calculated by optimizing an expected cost function that includes future behavior. In each control cycle (the control cycle can set the cycle range according to demand), only the optimal control input calculated at the current moment is implemented, and then based on the new measurement data (i.e. the force information and real-time position information of the detection module detection cable), prediction and optimization are performed again to form a closed-loop control.

[0045] In the MPC algorithm, the expected cost function constructed includes the deviation between the future state of the cable (which can come from the prediction model) and the expected state and the cost of the control input (from the LQR algorithm). The optimal input sequence is obtained by defining the expected cost function and solving the optimization problem, and the optimal control input value and prediction information (i.e. the predicted future state) are obtained based on the optimal input sequence.

[0046] Generally speaking, the optimal control input value at the current moment is used to adjust the system state. By inputting the optimal control input value into the LQR algorithm, it is used as reference information for the LQR algorithm to calculate the second control input value, and the LQR algorithm is advised whether there is a better second control input value. The prediction information is used for the prediction and optimization of the next control cycle, and the future state of the cable in the expected cost function is updated, that is, as the prediction information about the future cable arrangement trajectory in the next control cycle.

[0047] Under this set of calculation methods, this method uses the real-time preset position and position information of the cable as the input value of the linear deviation adjustment algorithm, so that the linear deviation adjustment algorithm can flexibly adjust and adapt the PID calculation formula based on these real-time information, so that the control accuracy of the cable is higher.

[0048] On this basis, by superimposing the LQR algorithm, the control system can be made more stable, and many cable routing conditions can be quantified. This is not only conducive to quickly deploying a set of cable routing operating parameters suitable for high-quality cable routing, but also can effectively make the PID control part of the linear deviation adjustment algorithm gradually achieve a more stable and higher control accuracy effect, which is very effective when routing cables with particularly small diameters and soft cables.

[0049] After further superimposing the use of the MPC algorithm, the future trajectory of the cable can be predicted and the optimal value can be given. When the actual cable arrangement results are good and the actual cable arrangement trajectory is consistent with the predicted trajectory, this method directly uses the MPC algorithm results as the basic value to control the operation of the cable, and then combined with PID control, the cable arrangement can basically be normal.

[0050] In addition, in this control system, the LQR algorithm can automatically adjust the preset values ​​and further give pid parameters, while the MPC algorithm is to predict and give the optimal value, so that the system can give the most accurate value as quickly as possible once it is running.

[0051] The present application also discloses a cable deviation correction and wiring device, referring to Figure 3-Figure 4 The cable deviation correction and arranging device includes an arranging mechanism, a power module, a detection module and a control module. The arranging mechanism is used to guide and output the cable; the power module is used to drive the arranging mechanism to displace the cable to adjust the output position and posture of the cable when it is output from the arranging mechanism; the detection module is used to detect the force information and position information of the cable in the arranging mechanism; the control module is connected to the power module and the detection module, and is used to obtain the current arranging speed information when the power module drives the arranging mechanism to displace, and to calculate the position deviation of the cable based on the preset expected position information of the cable, the real-time force information and position information of the cable, and adjust the power module based on the position deviation and the current arranging speed information of the cable, so that the cable in the arranging mechanism reaches the expected position within a unit time and is output vertically.

[0052] In some embodiments, the cable arrangement mechanism includes a cable arrangement frame 1 and a wire assembly, wherein the wire assembly is connected to the cable arrangement frame 1 and is used to guide the cables.

[0053] In some embodiments, the conductor assembly includes at least one guide roller 2 for guiding the cable, and / or a wheel assembly for guiding the cable consisting of at least two cable clamping rollers 3 distributed up and down or staggered. Generally speaking, the circumferential surfaces of the guide roller 2 and the cable clamping roller 3 are both provided with an annular guide groove.

[0054] Furthermore, in some specific embodiments, an upper cantilever 4 and a lower cantilever 5 are installed on the wire arranging frame 1, and the upper cantilever 4 can be adjusted in the horizontal position (preferably in the X-axis direction) in the wire arranging frame 1, and the lower cantilever 5 can be adjusted in the vertical position in the wire arranging frame 1. The horizontal position adjustment and the vertical position adjustment can be controlled by a power module, or by an independent mechanical adjustment structure.

[0055] Further, such as Figure 2 As shown, the conductor assembly includes a wheel group consisting of a guide roller 2 and two offset cable clamping rollers 3. The guide roller 2 is rotatably mounted on the cantilevered end of the upper cantilever 4, one cable clamping roller 3 is mounted in the middle of the upper cantilever 4, and the other cable clamping roller 3 is mounted on the cantilevered end of the lower cantilever 5.

[0056] Generally speaking, the wire traversing frame 1, the detection module, and the power module are combined into the structural part of the wire traversing machine, and the wire traversing frame 1 with the upper cantilever 4, the lower cantilever 5 and the conductor assembly is combined into the wire traversing arm of the wire traversing machine.

[0057] Further, such as Figure 1 As shown, in some specific embodiments, the cable deflection correction and wiring device also includes a frame 6, and the wiring frame 1 can be movably mounted on the frame 6. The driving module includes a module for driving the wiring frame 1 to perform multi-degree-of-freedom movement in space. Preferably, the multi-degree-of-freedom movement includes linear movement in the directions of the X-axis, Y-axis and Z-axis, and the linear movement of each axis is preferably achieved by a motor.

[0058] When winding and arranging the cable, if the Y axis is used as the rotation axis of the take-up mechanism 9, the Y axis moving direction of the cable is the arranging direction, and the cable arranging speed described is the speed at which the driving module drives the arranging frame 1 to move along the Y axis.

[0059] Furthermore, in some specific embodiments, the detection module in the cable deflection correction and wiring device includes a distance measuring sensor 8, a tension sensor 7, and a tension and pressure sensor (not shown in the figure). The distance measuring sensor 8 is used to detect the real-time position of the cable and to detect the distance between the cable and the end point of the travel of the wiring process (generally speaking, multiple distance measuring sensors 8 are provided); the tension sensor 7 is used to detect the axial tension of the cable; the tension and pressure sensor is used to detect the radial tension and pressure of the cable in the wiring mechanism. In some embodiments, a plurality of tension and pressure sensors for measuring the pressure when the wiring mechanism and the wire taking-up mechanism conflict can be additionally provided.

[0060] Furthermore, in some specific embodiments, the cable deviation correction and arranging device further includes a take-up mechanism 9 for winding the cable output by the arranging mechanism, and the detection module is further used to adjust the start and stop and winding speed of the take-up mechanism based on the detection information of the detection module to ensure the stability of the cable winding tension, wherein the detection information includes force information and real-time position information. Generally speaking, the detection module preferably includes a arranging mechanism controller and a take-up mechanism controller, and the take-up mechanism 9 is preferably a reel.

[0061] For this device, its operation can be divided into two parts as a whole. One part is that as the cable accumulates on the reel, the cable arrangement mechanism automatically rises and retreats, and as the production line speed increases and the retreat speed increases, the other part is to collect the detection data of the detection module and the feedback speed of the take-up frame. After the algorithm filtering and proportional conversion of the control module, the deviation distance of the cable in unit time is obtained, and then the deviation adjustment is realized according to the deviation algorithm, LQR and MPC. By outputting and controlling the real-time lateral movement speed of the cable arrangement mechanism, the cable type is controlled to be stable within a certain deviation angle for a certain period of time, so that the optical cables can be neatly arranged on the reel.

[0062] Furthermore, the device specifically includes the following control modes: In the edge mode, when the cable reaches the preset end point of the travel, the control module controls the power module to stop the displacement of the cable arrangement mechanism (the cable does not move laterally at this time, and the cable can be reeled into the take-up mechanism under the traction force of the take-up mechanism) until the cable is wound twice.

[0063] In the off-edge mode, after the cable is wound twice, the control module controls the power module to drive the cable arrangement mechanism away from the end of the stroke, and the control module adjusts the speed of the cable arrangement mechanism in real time by controlling the drive module, so that the cable in the cable arrangement mechanism reaches the desired position within a unit time and is output vertically. Among them, the timing of winding two turns until the control module controls the power module to drive can be realized based on devices such as timers; or based on the control module detecting the winding situation, giving the control module a start signal through information interaction; or manual real-time control or test setting based on actual conditions.

[0064] It should be made clear that in actual use, the relevant algorithm setting values, travel end point setting values, etc. can be determined or estimated through debugging or process parameters. Generally speaking, a range value is pre-set in the control module, and when the calculated position deviation exceeds the pre-set range value, the algorithm is run to correct the cable deviation and arrange the cable.

[0065] In addition, when the present device is actually used, the operator can first pass the cable through the entrance of the cable arrangement mechanism, clamp the cable with the cable clamping roller 3, and then pass the cable into the cable threading port of the reel and fix it, and then start the power module, and drive the cable arrangement mechanism to automatically move at a set fixed direction and fixed speed through the power module, and at the same time, the distance sensor 8 measures the distance in real time. When the distance sensor 8 detects that the preset value has been reached (such as when the cable arrangement mechanism approaches the edge of the reel until a certain set value), it slows down and continues to move closer to the edge of the reel (when a tension pressure sensor for detecting the pressure between the cable arrangement mechanism and the wire take-up mechanism is also provided, the tension pressure sensor can be used to further determine whether it is close to the edge of the reel. If the tension pressure value increases to the set pressure upper limit, it can be basically determined that the cable arrangement mechanism is close to the edge of the reel). At this time, if the operator starts the production line and starts winding through the wire take-up frame, after winding 2 circles, the cable arrangement mechanism begins to leave the edge of the reel.

[0066] After winding two full circles, the wire arranging mechanism moves laterally at a fixed lateral speed calculated by multiplying the wire arranging pitch by the wire taking-up rotation speed, and relies on the distance measuring sensor 8 to determine whether it has actually left the edge of the reel (when a tension pressure sensor for detecting the pressure between the wire arranging mechanism and the wire taking-up mechanism is also provided, it is also possible to determine whether the wire arranging mechanism is under force based on this tension pressure sensor. If the force is reduced to the set value of leaving, it is basically determined that the wire arranging mechanism has moved away from the edge of the reel. Based on the above two points, it can be basically judged that the wire arranging mechanism has basically left the edge of the reel), and then the wire arranging mechanism clamps the cable and automatically starts arranging the cable away from the edge, and the wire taking-up mechanism 9 takes up the cable. The control module controls the real-time cable arranging situation based on the algorithm.

[0067] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0068] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0069] In addition, the terms "secondary" and "expected" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "secondary" or "expected" may explicitly or implicitly include one or more of the feature. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0070] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed 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 it can be 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 this application can be understood according to specific circumstances.

[0071] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A cable deviation correction and wiring method, characterized in that: The following steps are involved: Detect the real-time force and position information of the cable; The position deviation of the cable is calculated based on the preset expected cable position information, the real-time force information and the real-time position information of the cable, and the real-time cable arrangement speed and posture of the cable are adjusted based on the position deviation and the cable arrangement speed information at the current moment, so that the cable reaches the expected position within a unit time and is output vertically.

2. The cable deviation correction and wiring method according to claim 1, characterized in that: Adjusting the real-time cable arrangement speed and posture of the cable based on the position deviation and the cable arrangement speed information at the current moment includes: Based on the position deviation and the cable arrangement speed information at the current moment, a first control input value is calculated by a preset PID calculation formula; The real-time cable traversing speed and posture of the cable are adjusted based on the first control input value.

3. The cable deviation correction and wiring method according to claim 2, characterized in that: The method further comprises: adjusting the real-time cable arrangement speed and posture of the cable based on the position deviation and the cable arrangement speed information at the current moment; constructing a quadratic cost function based on the real-time cable position information, the cable desired position information and the first control input value; An optimal control law is obtained based on the quadratic cost function, a second control input value is obtained based on the optimal control law, and the real-time cable arrangement speed and posture are further adjusted according to the second control input value.

4. The cable deviation correction and wiring method according to claim 3, characterized in that: The method further comprises the steps of: A system model related to the cable status is constructed, and the future trajectory of the cable is predicted based on the system model and a pre-built prediction model. When the actual trajectory of the cable is consistent with the future trajectory, the cable is controlled to be arranged according to the predicted future trajectory.

5. The cable deviation correction and wiring method according to claim 4, characterized in that: Build a system model related to the cable status and predict the future trajectory of the cable based on the system model and pre-built prediction models, including: constructing a system model based on the second control input value, and constructing an expected cost function based on the system model and a pre-constructed prediction model; Based on the expected cost function, an optimal control input value and prediction information about the future trajectory of the cable are obtained, and the cable is adjusted according to the optimal control input value so that the actual trajectory of the cable approaches the future trajectory.

6. A cable deviation correction and arrangement device, characterized in that: include: A cable routing mechanism, used to guide and output cables; A power module, used for driving the cable arrangement mechanism to move, so as to adjust the output position and posture of the cable when it is output from the cable arrangement mechanism; A detection module, used to detect the real-time force information and position information of the cables in the cable arrangement mechanism; The control module is connected to the power module and the detection module, and is used to obtain the current cable arrangement speed information when the power module drives the cable arrangement mechanism to displace, and to calculate the position deviation of the cable based on the preset expected cable position information, the real-time force information and position information of the cable, and adjust the power module based on the position deviation and the current cable arrangement speed information of the cable, so that the cable in the cable arrangement mechanism reaches the expected position within a unit time and is output vertically.

7. The cable deflection correction and arrangement device according to claim 6, characterized in that: The cable deviation correction and arranging device further comprises a wire taking-up mechanism (9) for taking up the cable output by the wire arranging mechanism, and the detection module is further used to adjust the start / stop and the winding speed of the wire taking-up mechanism (9) based on the detection information of the detection module.

8. The cable deflection correction and arrangement device according to claim 6, characterized in that: The cable arrangement mechanism comprises a cable arrangement frame (1) and a conductor assembly, wherein the conductor assembly is connected to the cable arrangement frame (1) and is used for guiding the cables.

9. The cable deflection correction and arrangement device according to claim 8, characterized in that: The conductor assembly comprises at least one guide roller (2) for guiding the cable, and / or a wheel assembly for guiding the cable composed of at least two cable clamping rollers (3) distributed up and down or staggered.

10. The cable deviation correction and arrangement device according to any one of claims 6 to 9, characterized in that: The device includes the following control modes: In the edge mode, when the detection module detects that the cable has reached the preset end of the travel, the control module controls the power module to stop the displacement and cable arrangement of the cable arrangement mechanism until the cable is wound twice; In the off-edge mode, after the cable is wound twice, the control module controls the power module to drive the cable arranging mechanism away from the end of the stroke, and the control module adjusts the moving speed of the cable arranging mechanism in real time by controlling the driving module, so that the cable in the cable arranging mechanism reaches the desired position within a unit time and is output vertically.

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