Cable reel state detection method and device based on rail-mounted gantry crane positioning

Abstract

The invention discloses a cable reel state detection method and device based on rail-mounted gantry crane positioning. The method comprises the steps that a trajectory equation of a rail-mounted gantry crane is established; and in the trajectory of the trajectory equation, marking a plurality of cable reel states, and determining the actual cable reel state according to the positioning information of the rail-mounted gantry crane. According to the embodiment of the invention, the accurate state of the cable reel is deduced by using the positioning information and the trajectory equation of the rail-mounted gantry crane, and a traditional cable reel detection piece is abandoned.

Description

Technical Field

[0001] The present application relates to a cable reel status detection method and device based on rail crane positioning, belonging to the field of smart terminals. Background Art

[0002] Rail-mounted cranes are common in ports and can be moved along rails to change work areas. Their operating power is typically provided by high-voltage cables laid on the ground. During operation, the high-voltage cable reel equipped with the rail crane is controlled by a motor to rotate forward and reverse, allowing the cable to be retracted and released. Monitoring the cable reel status ensures that the cable is properly wound and released on the reel, preventing excessive stretching, uneven winding, or damage, thereby ensuring the normal operation of the rail crane. The cable reel status is detected by a cam mechanism or absolute encoder on the reel shaft. If these detection components are damaged, the cable reel status cannot be accurately determined. Summary of the Invention

[0003] In view of this, the present application provides a cable reel status detection method and device based on track crane positioning. At least one embodiment provided in the present application abandons the traditional cable reel detection device by utilizing the positioning information and trajectory equation of the track crane to deduce the accurate status of the cable reel.

[0004] In a first aspect, an embodiment of the present application discloses a method for detecting a cable reel state based on rail crane positioning, the method comprising:

[0005] Establish the trajectory equation of the rail crane;

[0006] In the trajectory of the trajectory equation, multiple cable reel states are marked, and the actual cable reel state is determined according to the positioning information of the rail crane.

[0007] Furthermore, the establishment of the trajectory equation of the rail crane includes:

[0008] Obtaining a trajectory equation of the rail crane according to the operating trajectory of the rail crane; or

[0009] The trajectory equation of the rail crane is obtained according to the operation trajectory of the rail crane, and the trajectory equation is adjusted with the cable outlet coordinates as the origin.

[0010] Furthermore, the cable reel status includes one of: full reel, pre-full reel, pre-empty reel and empty reel.

[0011] Furthermore, the trajectory of the trajectory equation, before marking a plurality of cable reel states, further includes:

[0012] The point coordinates of the plurality of cable reel states in the trajectory are calculated.

[0013] Furthermore, the trajectory equation is a bounded linear function passing through the origin; and the step of calculating the point coordinates of the plurality of cable reel states in the trajectory includes:

[0014] determining the distance between the cable reel and the cable outlet according to the type of the cable reel state;

[0015] The point coordinates of the cable reel state are obtained according to the distance, the boundary point coordinates of the trajectory equation and the proportional relationship of the right triangle.

[0016] Furthermore, the trajectory equation is a bounded linear function passing through the origin; the coordinate axis where the trajectory equation is located is the XY coordinate axis; and the method further includes:

[0017] When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable reeling state;

[0018] When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the cable-releasing state;

[0019] When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable-releasing state;

[0020] When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the retracted state.

[0021] Furthermore, the method further comprises:

[0022] Obtain the number of cable windings of the cable reel and calculate the cable winding length according to the Archimedean spiral approximate formula: L total =2πN*a+2π 2 b*N 2 , a represents the radius of the reel mounting bracket, b represents the growth rate of the constant velocity spiral, and N represents the number of turns;

[0023] The actual cable payout length is obtained by subtracting the maximum cable reel-in length from the actual cable reel-in length.

[0024] Calculating the positioning coordinates of the rail crane according to the actual length of the cable paid out;

[0025] The positioning coordinates are compared and verified with the actual coordinates of the rail crane.

[0026] Furthermore, obtaining the number of cable windings of the cable reel includes:

[0027] The number of cable turns on the cable reel is counted using an absolute encoder;

[0028] The method further comprises:

[0029] When the rail crane passes through the exit of the high-voltage cable pit, the automatic calibration of the absolute encoder is triggered. An RFID positioning mark is set at the exit of the high-voltage cable pit.

[0030] A second aspect of an embodiment of the present application discloses a cable reel status detection device based on rail crane positioning, the device comprising:

[0031] Establish a module for establishing the trajectory equation of the rail crane;

[0032] A determination module is used to mark multiple cable reel states in the trajectory of the trajectory equation and determine the actual cable reel state according to the positioning information of the rail crane.

[0033] A third aspect of an embodiment of the present application discloses a computer-readable storage medium, which includes a stored program. When the program is run, the processor of the device where the program is located controls the execution of the cable reel status detection method of the above embodiment.

[0034] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0035] Embodiments of this application provide a method and device for detecting the status of a cable reel based on track crane positioning. This cable reel status detection method includes: establishing a trajectory equation for the track crane; marking multiple cable reel states within the trajectory of the trajectory equation; and determining the actual cable reel state based on the positioning information of the track crane. The core advantage of this application lies in deducing the cable reel state through external positioning information and the trajectory equation, thereby eliminating the need for traditional cable reel detection components. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without any creative work.

[0037] Figure 1 A schematic diagram of a cable reel status detection method for rail crane positioning provided in an embodiment of the present application.

[0038] Figure 2 A schematic diagram of an operating scenario of a rail crane and a cable reel provided in an embodiment of the present application.

[0039] Figure 3A schematic diagram of a cable reel status point coordinate calculation method provided in an embodiment of the present application.

[0040] Figure 4 A schematic diagram of a trajectory equation for marking the state of a cable reel provided in an embodiment of the present application.

[0041] Figure 5 A schematic diagram of a method for determining the direction of cable reeling and unreeling provided in an embodiment of the present application.

[0042] Figure 6 A schematic diagram of a dual coordinate point comparison and verification method provided in an embodiment of the present application.

[0043] Figure 7 A schematic diagram of a cable reel status detection device for positioning a rail crane provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] At present, the common control methods of rail crane high-voltage cable reels mainly involve the following application factors:

[0047] Full reel position: This is the position of the high-voltage cable reel when it is winding the most cables during normal operation.

[0048] Pre-full disk position: This is the position point of "preparing to enter the full disk position" set according to actual use needs. It is mainly used for control conditions such as deceleration before entering the full disk position.

[0049] Empty reel position: This is the position of the high-voltage cable reel when it is at its lowest point in normal operation.

[0050] Pre-empty disk position: This is the position point of "preparing to enter the empty disk position" set according to actual use needs. It is mainly used for control conditions such as deceleration before entering the empty disk position.

[0051] Cable too loose signal: This is a detection signal point for cable tension, which is used to prevent the cable tension from being too small and causing the cable to be unable to be smoothly wound into the reel.

[0052] Cable over-tightening signal: This is a detection signal point for cable tension, used to prevent the cable from being damaged or even broken due to excessive cable tension.

[0053] Cable direction signal: This is the detection signal point of the reel's high-voltage cable outlet position on the ground, used to control the reel's cable reeling and releasing direction.

[0054] The above-mentioned positions and signals are usually set up by a cam mechanism installed on the reel's rotating shaft or by calculating the value of an absolute encoder. However, if these detection components are damaged, it is impossible to accurately determine the status of the cable reel. To this end, this embodiment provides the following solution:

[0055] Example 1:

[0056] Figure 1 A schematic diagram of a cable reel status detection method for rail crane positioning provided in an embodiment of the present application.

[0057] like Figure 1 As shown, the method may include the following steps:

[0058] S101 establishes the trajectory equation of the rail crane.

[0059] In one embodiment, establishing the trajectory equation of the rail crane includes:

[0060] The trajectory equation of the rail crane is obtained according to the operating trajectory of the rail crane.

[0061] In another embodiment, establishing the trajectory equation of the rail crane includes:

[0062] The trajectory equation of the rail crane is obtained according to the operation trajectory of the rail crane, and the trajectory equation is adjusted with the cable outlet coordinates as the origin.

[0063] For example, a rail crane moves along a one-dimensional straight line. When the crane reaches its farthest point on the left side of the high-voltage cable pit exit, its coordinates in the operating area are (x1, y1); when it reaches its farthest point on the right side, its coordinates are (x2, y2). When the crane's cable reel is directly above the high-voltage cable pit exit, its coordinates are (x0, y0), and the crane is at its initial position. At this point, the steps to establish the crane's operating trajectory equation are:

[0064] Y-y0=(y2-y1 / x2-x1)*(X-x0)

[0065] Let k = (y2-y1) / (x2-x1), and the corresponding relationship between the original work area coordinate system xy and the new coordinate system XY can be obtained:

[0066] Y=k*Xk*x0+y0

[0067] Let (x0,y0) be the origin:

[0068] Y=k*X

[0069] Then, the corresponding positions (X1, Y1) and (X2, Y2) of (x1, y1) and (x2, y2) in the new coordinates are (x1-x0, y1-y0) and (x2-x0, y2-y0) respectively.

[0070] S102 marks multiple cable reel states in the trajectory of the trajectory equation, and determines the actual cable reel state according to the positioning information of the rail crane.

[0071] In one embodiment, the positioning method of the rail crane can be selected from RFID, magnetic nails, satellite navigation, visual navigation, laser navigation and other positioning technologies, which are required to establish a coordinate system in the working area and obtain positioning information.

[0072] In another embodiment, the positioning information may be obtained by calculation, as can be seen in step S403 below.

[0073] In one embodiment, the cable reel status includes one of: full reel, pre-full reel, pre-empty reel, and empty reel.

[0074] For example, Figure 2 As shown, the rail crane 100 includes a cable reel 200. When the rail crane 100 is in operation, it drives the cable reel 200 to wind or unwind the cable. The cable reel 200 has four states. Specifically, the left and right full inventory points 301, pre-full inventory points 302, pre-empty inventory points 303, and empty inventory points 304 are symmetrically positioned relative to the outlet 400 of the above-ground high-voltage cable pit.

[0075] In one embodiment, before marking a plurality of cable reel states in the trajectory of the trajectory equation, the method further comprises: calculating the point coordinates of the plurality of cable reel states in the trajectory.

[0076] Specifically, the trajectory equation is a bounded linear function passing through the origin; Figure 3 As shown, the step of calculating the point coordinates of the plurality of cable reel states in the trajectory includes:

[0077] S201 determines the distance between the cable reel and the cable outlet according to the type of the cable reel state.

[0078] For example, according to operational requirements, the cable reel is set to be in the full reel position when it is m meters away from the high-voltage cable pit exit.

[0079] S202 obtains the point coordinates of the cable reel state according to the distance, the boundary point coordinates of the trajectory equation, and the proportional relationship of a right triangle.

[0080] For example, Figure 4 As shown, according to the proportional relationship of the right triangle:

[0081]

[0082] From the above, we can get the two coordinate points of the full disk position (-X m , -Y m ), (X m , Y m ), since X2 = x2 - x0 and Y2 = y2 - y0, both of which are known values, we can determine the location of the full disk point. Similarly, we can determine the coordinates of the pre-full disk, pre-empty disk, and empty disk.

[0083] In one embodiment, the trajectory equation is a bounded linear function passing through the origin; the coordinate axis where the trajectory equation is located is the XY coordinate axis; Figure 5 As shown, according to the operating conditions, the cable reeling and releasing directions can be determined from the positioning coordinates of the track crane, including:

[0084] S301: When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable reeling state.

[0085] S302: When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the cable releasing state.

[0086] S303: When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable-releasing state.

[0087] S304: When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the retracted state.

[0088] For example, when the horizontal coordinate X in the new coordinate system of the crane is at (0, X2], when X decreases (the crane moves to the left), the cable is reeled in, and when it increases (the crane moves to the right), the cable is released; when the horizontal coordinate X is at [X1, 0), when X decreases (the crane moves to the left), the cable is released, and when it increases (the crane moves to the right), the cable is reeled in; when coordinate X = 0, there is only the cable-releasing direction.

[0089] In one embodiment, Figure 6 As shown, the method further includes:

[0090] S401 obtains the number of cable windings of the cable reel and calculates the cable winding length according to the Archimedean spiral approximate formula: L total ≈2πN*a+2π 2 b*N 2 (rounded off or integer), a represents the radius of the reel mounting bracket, b represents the growth rate of the constant velocity spiral, and N represents the number of turns.

[0091] It should be noted that the winding method of the cable in the reel is similar to the Archimedean spiral, and its polar coordinate equation is:

[0092] r=a+bθ

[0093] The arc length formula is:

[0094]

[0095] The cable reel has a large number of windings, so the calculation using the above formula is more complicated. Therefore, when calculating the spiral problem with multiple turns, the above approximate formula is used.

[0096] Optionally, the growth rate of the constant velocity spiral is the increase in radius per arc, which is taken as the cable diameter d / 2π.

[0097] S402 calculates the difference between the maximum cable reel-in length and the actual cable reel-in length to obtain the actual cable pay-out length.

[0098] In this step, when the track is hung at the exit of the high-voltage cable pit, the length of the cable wound into the reel is L max , the number of circles is N max When the distance between the rail crane and the high-voltage cable pit is j, the length of the cable wound into the reel is L. j , the number of circles is N j , then the cable release length is L max -L j , that is, L max -L j=j.

[0099] S403 calculates the positioning coordinates of the rail crane according to the actual length of the cable paid out.

[0100] In this step, the coordinates at j satisfy:

[0101]

[0102] Right now:

[0103]

[0104] When the track is hung on the left side of the high voltage cable pit exit (-X j , -Y j ), on the right side of the high-voltage cable pit exit (X j , Y j ).

[0105] S404 compares and verifies the positioning coordinates with the actual coordinates of the rail crane.

[0106] As a possible implementation, when the actual coordinates of the rail crane are lost or cannot be queried, the positioning coordinates of the rail crane are used as a standard reference for restoring the position.

[0107] In one embodiment, obtaining the number of cable turns wound into the cable reel includes counting the number of cable turns wound into the cable reel using an absolute encoder. The method further includes triggering automatic calibration of the absolute encoder when the rail crane passes through an exit of a high-voltage cable pit, where an RFID positioning marker is provided.

[0108] Example 2:

[0109] Figure 7 A schematic diagram of a cable reel status detection device for positioning a rail crane provided in an embodiment of the present application.

[0110] like Figure 7 As shown, the device may include the following modules:

[0111] Establishing module 701, used to establish the trajectory equation of the rail crane.

[0112] The determination module 702 is used to mark multiple cable reel states in the trajectory of the trajectory equation and determine the actual cable reel state according to the positioning information of the rail crane.

[0113] Example 3:

[0114] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention when running.

[0115] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include memory, hard disk, etc., wherein the memory may be used to temporarily store running programs and data, the hard disk may be used to store programs and data for a long time, and the memory may be used to enable the computer to read and write data, as well as execute programs; the above-mentioned processor may be responsible for executing instructions in computer programs and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0116] Example 4:

[0117] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0118] The above-mentioned computer storage medium may refer to a medium in a computer memory used to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc. The stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and serving as an information tool to meet certain needs of people.

[0119] Example 5:

[0120] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0121] The above-mentioned computer program product may refer to a software program that has been written, tested and released, which can be run on a computer or other device. The computer program product may include an application, an operating system, tool software, etc., which is used to implement specific functions or solve specific problems.

[0122] Example 6:

[0123] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0124] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep the data from being lost when the power is off, and can be used to store long-term data, such as operating systems, applications and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical disks and flash memory storage devices, etc.

[0125] Example 7:

[0126] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0127] The above-mentioned computer program may refer to a collection of instructions used to tell a computer to perform a specific task or operation. A computer program may be written by a programmer using a specific programming language and may include algorithms, data structures, logic, and control flows. Computer programs may be used for a variety of purposes, including application software, operating systems, and the like.

[0128] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0130] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0131] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0133] The above is only 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 within the scope of protection of the present invention.

Claims

1. A cable reel status detection method based on track crane positioning, characterized in that: include: Establish the trajectory equation of the rail crane; In the trajectory of the trajectory equation, multiple cable reel states are marked, and the actual cable reel state is determined according to the positioning information of the rail crane.

2. The cable reel status detection method according to claim 1, characterized in that: The step of establishing the trajectory equation of the rail crane includes: Obtaining a trajectory equation of the rail crane according to the operating trajectory of the rail crane; or The trajectory equation of the rail crane is obtained according to the operation trajectory of the rail crane, and the trajectory equation is adjusted with the cable outlet coordinates as the origin.

3. The cable reel status detection method according to claim 1, characterized in that: The cable reel status includes one of: full reel, pre-full reel, pre-empty reel and empty reel.

4. The cable reel status detection method according to claim 1, characterized in that: The trajectory of the trajectory equation, before marking a plurality of cable reel states, further includes: The point coordinates of the plurality of cable reel states in the trajectory are calculated.

5. The cable reel status detection method according to claim 4, characterized in that: The trajectory equation is a bounded linear function passing through the origin; and calculating the point coordinates of the plurality of cable reel states in the trajectory includes: determining the distance between the cable reel and the cable outlet according to the type of the cable reel state; The point coordinates of the cable reel state are obtained according to the distance, the boundary point coordinates of the trajectory equation and the proportional relationship of the right triangle.

6. The cable reel status detection method according to claim 1, characterized in that: The trajectory equation is a bounded linear function passing through the origin; the coordinate axis where the trajectory equation is located is the XY coordinate axis; The method further comprises: When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable reeling state; When the position of the rail crane is on the positive coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the cable-releasing state; When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position decreases, it is determined that the cable reel is in the cable-releasing state; When the position of the rail crane is on the negative coordinate axis and the coordinate value of the position increases, it is determined that the cable reel is in the retracted state.

7. The cable reel status detection method according to claim 1, characterized in that: The method further comprises: Obtain the number of cable windings of the cable reel and calculate the cable winding length according to the Archimedean spiral approximate formula: L total =2πN*a+2π 2 b*N 2 , a represents the radius of the reel mounting bracket, b represents the growth rate of the constant velocity spiral, and N represents the number of turns; The actual cable payout length is obtained by subtracting the maximum cable reel-in length from the actual cable reel-in length. Calculating the positioning coordinates of the rail crane according to the actual length of the cable paid out; The positioning coordinates are compared and verified with the actual coordinates of the rail crane.

8. The cable reel status detection method according to claim 7, characterized in that: The step of obtaining the number of cable windings of the cable reel comprises: The number of cable turns on the cable reel is counted using an absolute encoder; The method further comprises: When the rail crane passes through the exit of the high-voltage cable pit, the automatic calibration of the absolute encoder is triggered. An RFID positioning mark is set at the exit of the high-voltage cable pit.

9. A cable reel status detection device based on track crane positioning, characterized in that: include: Establish a module for establishing the trajectory equation of the rail crane; A determination module is used to mark multiple cable reel states in the trajectory of the trajectory equation and determine the actual cable reel state according to the positioning information of the rail crane.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the cable reel status detection method according to any one of claims 1 to 8 is executed in a processor of a device where the program is controlled.

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