A mobile wireless ad hoc network winch and system and control method thereof

Abstract

The application discloses a mobile wireless ad hoc network winch and a system and a control method thereof, wherein the mobile wireless ad hoc network winch comprises a winch main body, a moving mechanism, a drilling anchoring mechanism, a tensioning mechanism, a winding mechanism, a state acquisition module, a wireless ad hoc network communication module and a control module. The control module receives control instructions and information such as anchoring states and tensioning states collected by the state acquisition module according to a wireless ad hoc network communication link, and performs linkage control on the moving, drilling anchoring, tensioning and winding. The application solves the problems of insufficient anchoring reliability, unstable tensioning control, poor multi-end coordination and untimely safety protection of the existing winch equipment, and improves the safety, stability and coordination of the power transmission line traction, hoisting and coiling and uncoiling operation.

Description

Technical Field

[0001] This invention relates to the field of power construction equipment technology, and in particular to a mobile wireless self-organizing network winch, its system, and control method. Background Technology

[0002] Power winches are commonly used construction equipment in power transmission line construction, stringing operations, tensioning, and lifting. Traditional power winches typically require the use of ground anchors, pulleys, traction ropes, and manual operation to complete traction or lifting tasks. Because power transmission line construction often takes place in complex environments such as mountainous areas, farmland, slopes, and narrow passages, traditional winch operations suffer from problems such as difficult equipment handling, complex site layout, high personnel requirements, low coordination efficiency, and high safety risks.

[0003] To address the aforementioned issues, existing technology has disclosed a mobile, fully automated, intelligent winch. This winch can be moved via a tracked walking device and performs rope winding and drilling operations using a winch rope winding device and a ground anchor drilling device. This type of equipment can, to some extent, alleviate the problems of traditional winches being difficult to move, requiring additional drilling equipment before hoisting, and involving numerous on-site preparation steps. However, in high-altitude lifting, traction and winding of power transmission lines, and construction operations in complex terrain, simply enabling winch movement, drilling, and rope winding is still insufficient to fully meet the on-site requirements for operational safety, tension stability, and multi-terminal coordination.

[0004] Specifically, in high-altitude hoisting, traction and winding of transmission lines, and construction operations in complex terrain, existing mobile winches, while capable of movement, drilling, and rope winding, still struggle to promptly determine whether the drilling depth, screw-in status, positioning status, or stress state of the anchor meets the requirements for subsequent traction operations after drilling or anchoring. This can lead to the initiation of winding or traction operations even when anchoring is abnormal, resulting in anchoring failure, equipment displacement, or instability at the traction end. Furthermore, the lack of continuous data collection and coordinated adjustment of tension, tension roller load, winding load, or traction medium displacement before the traction medium enters the winding mechanism and during winding and release makes it prone to problems such as rope tangling, skipping, or uneven winding due to excessively loose traction medium, or excessively tight traction medium causing problems. Damage, increased equipment load, and excessive impact loads are all potential problems. Furthermore, construction sites typically involve coordination between ground operators, high-altitude workers, and the winch. Existing equipment often relies on single-end remote control, making it difficult for the high-altitude work unit to receive timely information on anchoring, tensioning, winding, or communication status and participate in coordinated control. In environments with long operating distances, numerous obstructions, significant elevation differences, or strong interference, communication links may experience interruptions, delays, or signal quality degradation. If the equipment cannot stop, decelerate, or brake promptly based on communication status, and cannot guarantee that emergency stop commands from the ground or high-altitude end take precedence over ordinary control commands such as movement, drilling, tensioning, and winding, the safety, stability, and coordination of winch traction, lifting, and cable winding operations will still be affected. Summary of the Invention

[0005] To address the problems of existing mobile winches in power transmission line traction, lifting, and winding operations, where the anchoring status, traction medium tension status, and communication status are not linked for control, resulting in traction starting even in case of anchoring abnormalities, unstable traction medium tension, and untimely winding protection response in case of communication abnormalities, one objective of this invention is to provide a mobile wireless self-organizing network winch.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a mobile wireless self-organizing network winch, comprising: Organism; A mobile chassis that carries the machine body and is used to move or stop the machine body. A drilling and anchoring mechanism, disposed on the machine body, is used to perform drilling and / or anchor screwing-in actions; The tensioning mechanism is located on the conveying path before the traction medium enters the winding mechanism and is used to adjust the tension of the traction medium. A winding mechanism is used to wind up or release the traction medium after it has been adjusted by the tensioning mechanism. The status acquisition module is used to acquire at least one of the following: anchoring status information, tensioning status information, winding status information, attitude status information, and communication status information; The wireless ad hoc network communication module is used to establish a wireless ad hoc network communication link with ground operation terminals, aerial work terminals and / or relay nodes; The control module is electrically connected to the mobile chassis, drilling and anchoring mechanism, tensioning mechanism, winding mechanism, status acquisition module and wireless self-organizing network communication module respectively; The control module is configured to: allow the tensioning mechanism and / or the winding mechanism to start when the anchoring status information meets the preset anchoring conditions; adjust the tensioning mechanism and the winding mechanism in conjunction with the tensioning status information during the tensioning operation; and control the winding mechanism to stop, reduce speed, or brake when the communication status is abnormal.

[0007] Furthermore, a frame is provided on the machine body, and the tensioning mechanism and the winding mechanism are both installed on the frame. The output side of the tensioning mechanism and the input side of the winding mechanism are arranged adjacent to each other along the traction medium conveying direction, so that the traction medium passes through the tensioning mechanism and the winding mechanism in sequence.

[0008] The above scheme allows the traction medium to be tensioned and adjusted before entering the winding mechanism, reducing problems such as slackness, skipping, tangling, or uneven winding of the traction medium, and improving the continuity and uniformity of the winding process.

[0009] Furthermore, the winding mechanism includes a winding drive, a first support, and a winding roller; both the winding drive and the first support are mounted on the frame; one end of the winding roller is drive-connected to the output end of the winding drive, and the other end is rotatably connected to the first support; the winding drive drives the winding roller to rotate around its axis, so as to cause the traction medium to wind around the winding roller or be released from the winding roller.

[0010] The above solutions improve the smoothness and load-bearing capacity of the winding roller, enabling the traction medium to wind or release stably, and reducing winding sway and traction impact.

[0011] Furthermore, the tensioning mechanism includes a tensioning drive, a second support, and a tensioning roller; both the tensioning drive and the second support are mounted on the frame; one end of the tensioning roller is drive-connected to the output end of the tensioning drive, and the other end is rotatably connected to the second support; the tensioning roller is located on the rope-entry side of the take-up roller, and the tensioning drive is a differential motor.

[0012] The above scheme allows the traction medium to be pre-tensioned before entering the take-up roll; the differential motor is beneficial for differentially adjusting the traction medium according to the difference in take-up speed or tension requirements, thereby improving the sensitivity and adaptability of tension control.

[0013] Furthermore, the status acquisition module includes a tension status acquisition unit; the tension status acquisition unit includes a tension detection element or a displacement detection element disposed at the traction medium, the tensioning roller, or the take-up roller, and at least one of a current detection circuit or a speed detection circuit connected to the tensioning drive or the take-up drive; the control module adjusts the speed, torque, or start / stop state of the tensioning drive and the take-up drive according to the tension of the traction medium, the displacement of the traction medium, the load of the tensioning drive, the load of the take-up drive, or the speed of the take-up roller acquired by the tension status acquisition unit, so that the traction medium is kept within a preset tension range.

[0014] The above solution keeps the traction medium within the preset tension range, avoiding rope tangling and tack jumping due to excessive traction medium looseness, and also avoiding damage to the traction medium, increased equipment load, or excessive impact load due to excessive tension.

[0015] Furthermore, the drilling anchoring mechanism includes a telescopic adjustment component, an angle adjustment component, a height adjustment component, and a rotary drive component; the telescopic adjustment component is connected to the frame and is used to drive the rotary drive component to move in a direction closer to or further away from the machine body; the angle adjustment component is connected between the telescopic adjustment component and the height adjustment component and is used to adjust the drilling angle of the drill end relative to the ground; the height adjustment component is connected to the rotary drive component and is used to adjust the height of the rotary drive component relative to the ground; the rotary drive component is connected to the drill element or anchor and is used to drive its rotation.

[0016] By adjusting the extension position, drilling angle, and working height of the drill end, the drilled parts or anchors can adapt to different terrains, different anchoring positions, and different drilling angles, thereby improving the adaptability of drilling and anchoring in complex construction sites.

[0017] Furthermore, the telescopic adjustment assembly includes a length shell, a length frame, and a push cylinder; the length shell is fixed to the frame; the length frame extends at least partially into the length shell, the push cylinder is disposed within the length shell and its movable end is connected to the length frame to drive the length frame to slide relative to the length shell; the angle adjustment assembly includes a lifting frame, an angle seat, and an angle cylinder, one end of the lifting frame is rotatably connected to the length frame, the angle seat is fixedly disposed on the length frame, one end of the angle cylinder is rotatably connected to the angle seat, and the other end is movably connected to the lifting frame.

[0018] The above solution enables the drilling anchoring mechanism to complete position and angle correction without moving the winch as a whole, thereby improving anchoring efficiency and reducing the difficulty of manual adjustment.

[0019] Furthermore, the height adjustment assembly includes a rack, a movable seat, and a reduction motor. The rack is fixedly mounted on the lifting frame. The movable seat is slidably connected to the rack. The reduction motor is fixedly mounted on the movable seat, and its output end meshes with the rack. The rotation drive assembly includes a drilling platform, a first motor, and a drilling component. The drilling platform is fixedly mounted on the movable seat. The first motor is fixedly mounted on the drilling platform. The drilling component is connected to the output end of the first motor.

[0020] The above scheme enables the drilled part to stably reach the preset height and output rotational power, thereby improving the stability and controllability of the drilling or anchor screwing process.

[0021] Furthermore, the status acquisition module includes an anchorage status acquisition unit, which includes at least two of the following: a rotation detection element or displacement detection element for detecting the drilling depth or number of turns of the anchor; a current detection element, pressure detection element or torque detection element for detecting the load of the rotation drive component; a limit detection element or proximity detection element for detecting the anchor's position; and a tension detection element or micro-displacement detection element for detecting the anchorage pull-out resistance. The control module comprehensively judges whether the anchorage status meets the preset anchorage conditions based on the acquisition results of the anchorage status acquisition unit, and blocks the start of the winding mechanism and keeps it braked when the preset anchorage conditions are not met.

[0022] The above solution can avoid misjudging anchor reliability based on a single signal, and at the same time prevent traction operations from being carried out under abnormal anchor conditions, thereby reducing the risk of anchor failure, equipment displacement and instability of the traction end from the source.

[0023] Furthermore, the mobile chassis includes a first tracked walking assembly and a second tracked walking assembly respectively disposed on both sides of the machine body; both the first tracked walking assembly and the second tracked walking assembly include a mobile frame, a mobile drive component, a drive wheel, a driven wheel, a tension wheel, a support wheel, and a track. The mobile frame is connected to the machine body, the drive wheel is drivenly connected to the mobile drive component, the driven wheel, the tension wheel, and the support wheel are disposed on the mobile frame, and the track is wound around the drive wheel and the driven wheel and contacts the tension wheel and the support wheel; the control module controls the mobile drive components of the first tracked walking assembly and the second tracked walking assembly respectively.

[0024] The above solution can improve the winch's ability to pass through complex terrains such as mountains, slopes, farmland, and narrow passages, as well as its mobility and stability. At the same time, the tracks on both sides can be controlled by differential speed to achieve straight-line movement, turning, or turning on the spot, making it convenient for the equipment to quickly reach and position itself at the work site.

[0025] The advantages of this mobile wireless self-organizing network winch are as follows: Through the coordinated operation of the mobile chassis, drilling and anchoring mechanism, tensioning mechanism, winding mechanism, status acquisition module, wireless self-organizing network communication module, and control module, the winch can achieve mobile positioning, drilling and anchoring, tension adjustment of traction medium, winding and release, and communication anomaly protection. This solves the problems of insufficient anchoring status confirmation, unstable tension of traction medium, and untimely response of winding protection when communication is abnormal in existing mobile winch equipment during traction, lifting, and winding operations. It enables the winch to perform tensioning or winding operations only after the anchoring status meets the requirements, maintains stable tension of traction medium during tensioning operations, and promptly stops, reduces speed, or brakes the winding mechanism when communication is abnormal. This facilitates safe and stable mobile winch operations in complex power transmission line construction environments such as mountainous areas, slopes, farmland, and narrow passages.

[0026] To address the problems of existing mobile winch equipment relying mainly on single-end remote control or on-site manual coordination, resulting in untimely transmission of status information between the ground operation end, the high-altitude operation end and the winch, insufficient collaborative control capabilities, and untimely emergency stop response in case of sudden danger, another objective of this invention is to provide a mobile wireless self-organizing network winch system.

[0027] To achieve the above objectives, the present invention adopts the following technical solution: a mobile wireless self-organizing network winch system, comprising the aforementioned mobile wireless self-organizing network winch, a ground operation terminal, and an aerial work terminal; the mobile wireless self-organizing network winch, the ground operation terminal, and the aerial work terminal are connected to the same wireless self-organizing network communication link as communication nodes; the ground operation terminal is used to send movement control commands, drilling anchoring control commands, tension control commands, winding control commands, or emergency stop commands; the aerial work terminal is used to receive anchoring status information, tension status information, winding status information, or communication status information sent by the mobile wireless self-organizing network winch, and send coordinated control commands or emergency stop commands; the control module controls the corresponding mechanism actions according to the commands from the ground operation terminal and / or the aerial work terminal.

[0028] Furthermore, it also includes relay nodes, which are set on the communication path between any two communication nodes and are used to forward control commands, status information or alarm information; the wireless ad hoc network communication module establishes or updates routes according to the link quality of each communication node, so that the control commands, status information or alarm information are transmitted via single-hop or multi-hop paths.

[0029] The above solution enables single-hop or multi-hop transmission of control commands, status information, and alarm information in construction environments with long operating distances, numerous obstructions, large elevation differences, or strong interference, thereby improving the reliability and coverage of wireless communication links.

[0030] Furthermore, the aerial work terminal is a wearable terminal, equipped with a status display unit, a jog control input, and an emergency stop input; the status display unit is used to display or indicate the tension status, anchoring status, winding status, link quality, and / or control status; the jog control input is used to send a jog winding command or a jog unwinding command after the aerial work terminal gains control; the emergency stop command sent by the emergency stop input is not limited by the control status.

[0031] The above-mentioned solution can ensure that emergency stops are triggered in a timely manner in dangerous situations at high altitudes, thereby improving the safety of high-altitude operations.

[0032] Furthermore, the control module is configured to: deprive the current control node of its control rights when the current control node is disconnected, the communication signal strength is lower than a preset value, the communication delay exceeds a preset value, or no valid heartbeat information or status confirmation information is received within a preset time, and control the winding mechanism and the tensioning mechanism to stop, decelerate and then brake, or brake directly; when receiving an emergency stop command from the ground operation terminal, the aerial work terminal, or the mobile wireless self-organizing network winch, control the mobile chassis, the drilling anchoring mechanism, the tensioning mechanism, and the winding mechanism to stop, and put the winding mechanism into a braking state.

[0033] The above solution can prevent the device from continuing to pull under abnormal communication conditions and improve the safety protection response speed under abnormal operating conditions.

[0034] The mobile wireless self-organizing network winch system of this invention has the following advantages: By cooperating with the mobile wireless self-organizing network winch, ground operation terminal, high-altitude operation terminal, and wireless self-organizing network communication link, it can realize status information interaction, collaborative control, and emergency stop response between the winch end, ground operation end, and high-altitude operation end. This solves the problems of existing mobile winch equipment mainly relying on single-end remote control or on-site manual coordination, which makes it difficult for the high-altitude operation end to obtain equipment status in a timely manner, insufficient collaborative control capabilities between the ground end and the high-altitude end, and untimely emergency stop response in case of sudden danger. It enables ground operators and high-altitude operators to jointly participate in the operation control and safety monitoring of the winch, facilitating safe and reliable wireless collaborative winch operations in power transmission line construction environments with long distances, many obstructions, large elevation differences, or strong interference.

[0035] This invention also provides a control method for a mobile wireless self-organizing network winch, applied to the aforementioned mobile wireless self-organizing network winch system. The control method includes: connecting the mobile wireless self-organizing network winch, the ground operation terminal, and the aerial work terminal to a wireless self-organizing network communication link; controlling the mobile wireless self-organizing network winch to reach the work position according to the mobile control command sent by the ground operation terminal; controlling the drilling and anchoring mechanism to perform drilling and / or anchoring insertion; collecting anchoring status information and determining whether preset anchoring conditions are met; if met, allowing the tensioning mechanism and / or the winding mechanism to start; if not met, prohibiting the winding mechanism from starting or keeping it braked; collecting tensioning status information and adjusting the tensioning mechanism and the winding mechanism in conjunction to keep the traction medium within a preset tension range; detecting the communication status during winding or release; if communication is abnormal, controlling the winding mechanism to stop, decelerate, or brake; and upon receiving an emergency stop command, stopping the mobile chassis, the drilling and anchoring mechanism, the tensioning mechanism, and the winding mechanism, and braking the winding mechanism.

[0036] The beneficial effects of the mobile wireless self-organizing network winch control method of the present invention are as follows: Applied to the above-mentioned mobile wireless self-organizing network winch system, by connecting the mobile wireless self-organizing network winch, ground operation terminal and high-altitude operation terminal to the wireless self-organizing network communication link, and sequentially executing mobile positioning, drilling anchoring, anchoring status judgment, tension linkage adjustment, communication abnormality protection and emergency stop braking, it can realize status interaction, collaborative control and safety protection between the winch end, ground operation end and high-altitude operation end. It solves the problems of untimely multi-end coordination, lack of linkage between anchoring confirmation and tensioning and winding, and untimely protection response when communication is abnormal in existing mobile winch equipment during traction, lifting and winding operations. It enables the winch system to carry out safe and stable wireless collaborative control according to the continuous operation process, which is convenient for traction, lifting and winding operations in the construction environment of power transmission lines with long distances, many obstructions, large height differences or strong interference. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of a mobile wireless self-organizing network winch according to the present invention.

[0038] Figure 2 This is a structural schematic diagram from another perspective of a mobile wireless self-organizing network winch according to the present invention.

[0039] Figure 3 This is a schematic diagram of the drilling and anchoring mechanism in this invention.

[0040] Figure 4 This is a schematic diagram of the mobile chassis in this invention.

[0041] Figure 5This is a schematic diagram of the architecture of a mobile wireless self-organizing network winch according to the present invention.

[0042] In the diagram: 1. Mobile chassis; 101. Mobile frame; 102. Tensioning frame; 103. Tensioning wheel; 104. Driven wheel; 105. Support wheel; 106. Mobile drive component; 107. Drive wheel; 108. Track; 2. Machine body; 3. Frame; 4. Hook; 5. Winding mechanism; 51. Motor base; 52. Servo motor; 53. First mounting seat; 54. Winding roller; 6. Tensioning mechanism; 61. Differential motor; 62. Second mounting seat; 63. Tensioning roller; 7. Drilling and anchoring mechanism; 701. Length shell; 702. Length frame; 703. Push cylinder; 704. Movable seat; 705. Lifting frame; 706. Gear motor; 707. Rack; 708. Angle cylinder; 709. Drilling table; 710. First motor; 711. Drilling component; 712. Angle seat. Detailed Implementation

[0043] To make the objectives, technical solutions, and beneficial effects of this invention clearer, specific embodiments of the invention will be further described below with reference to the accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0044] In the description of this invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "top", "bottom", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the structure referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0045] Example 1 Reference Figure 1 and Figure 2 This is the first embodiment of the present invention, which provides a mobile wireless self-organizing network winch that can be used for mobile positioning, drilling anchoring, traction medium tension adjustment, winding and release, and safety protection under abnormal working conditions. It includes: a mobile chassis 1, a machine body 2, a frame 3, a hook 4, a winding mechanism 5, a tensioning mechanism 6, a drilling anchoring mechanism 7, a status acquisition module, a wireless self-organizing network communication module, and a control module.

[0046] The main body 2 forms the main load-bearing structure of the mobile wireless self-organizing network winch. The mobile chassis 1 drives the main body 2 to move on the construction site and stop at the working position. The drilling and anchoring mechanism 7 performs drilling and / or anchor screwing actions. The tensioning mechanism 6 adjusts the tension of the traction medium before it enters the winding mechanism 5. The winding mechanism 5 winds up or releases the traction medium after it has been adjusted by the tensioning mechanism 6. The status acquisition module collects at least one of the following: anchoring status information, tensioning status information, winding status information, attitude status information, and communication status information. The wireless self-organizing network communication module establishes a wireless self-organizing network communication link with the ground operation terminal, the high-altitude operation terminal, and / or the relay node. The control module controls the operation of the mobile chassis 1, the drilling and anchoring mechanism 7, the tensioning mechanism 6, and the winding mechanism 5 based on the status information collected by the status acquisition module and the control commands received by the wireless self-organizing network communication link.

[0047] Specifically, the machine body 2 is supported on a mobile chassis 1, which is used to move or stop the machine body 2. A frame 3 is mounted on the machine body 2, which is used to install the winding mechanism 5, the tensioning mechanism 6, and the drilling and anchoring mechanism 7. The winding mechanism 5 is located on the frame 3, and the tensioning mechanism 6 is located on the conveying path of the traction medium before it enters the winding mechanism 5, allowing the traction medium to be tensioned and adjusted by the tensioning mechanism 6 before entering the winding mechanism 5 for winding or unwinding.

[0048] Furthermore, the status acquisition module may include one or more of the following: a microcontroller, a sensor group, a signal conditioning circuit, an analog-to-digital converter, a communication detection circuit, a motor detection circuit, and a storage unit. The microcontroller is used to receive analog or digital signals output from the sensor group, and to receive electrical signals output from the motor detection circuit and the communication detection circuit, and to generate anchoring status information, tension status information, winding status information, attitude status information, and communication status information based on the above signals.

[0049] Anchoring status information may include one or more of the following: anchor drilling depth, number of turns, drilling angle, load of the rotary drive component, anchor positioning signal, test tension, anchor micro-displacement, and anchor pull-out resistance. Tensioning status information may include one or more of the following: tension of the traction medium, displacement of the traction medium, rotation speed of the tensioning roller 63, rotation speed of the winding roller 54, current of the differential motor 61, current of the servo motor 52, load of the differential motor 61, and load of the servo motor 52. Winding status information may include one or more of the following: number of rotations of the winding roller 54, winding length, winding allowance, winding limit position signal, and braking status of the winding roller 54. Attitude status information may include one or more of the following: pitch angle, roll angle, and yaw angle of the machine body 2. Communication status information may include one or more of the following: received signal strength, signal-to-noise ratio, communication delay, number of packet losses, heartbeat information, status confirmation information, and online status of the control node.

[0050] The winding status information can be acquired by a rotary encoder located on the output shaft of the winding roller 54 or the servo motor 52. The control module calculates the number of rotations of the winding roller 54 and the winding length of the traction medium based on the number of pulses or angle values ​​output by the rotary encoder. A mechanical limit switch, proximity detector, or photoelectric detector can be installed at the winding limit position of the winding roller 54. When the traction medium is wound to the preset limit position, the limit detector outputs a winding completion signal. The attitude status information can be acquired by an inertial measurement unit located in the control box of the machine body 2 or the control module. The inertial measurement unit may include a three-axis accelerometer, a three-axis gyroscope, or a nine-axis attitude sensor to obtain the attitude changes of the machine body 2 during movement, parking, and traction operations.

[0051] Preferably, communication status information can be jointly acquired by the wireless ad hoc network communication module and the control module. The wireless ad hoc network communication module collects the received signal strength and signal-to-noise ratio, while the control module calculates the communication delay based on the data packet timestamp and determines whether the communication node is online based on the reception of heartbeat packets, status acknowledgment packets, or valid control messages. When the current control node fails to send valid heartbeat information or status acknowledgment information within a preset time, or when at least one of the received signal strength, signal-to-noise ratio, or communication delay does not meet the preset communication conditions, the control module determines that the communication status is abnormal.

[0052] The control module is electrically connected to the mobile chassis 1, the drilling and anchoring mechanism 7, the tensioning mechanism 6, the winding mechanism 5, the status acquisition module, and the wireless self-organizing network communication module. The control module is configured to: allow the tensioning mechanism 6 and / or the winding mechanism 5 to start when the anchoring status information meets the preset anchoring conditions; during tensioning operations, adjust the tensioning mechanism 6 and the winding mechanism 5 in conjunction with the tensioning status information; and control the winding mechanism 5 to stop, reduce speed, or brake when the communication status is abnormal.

[0053] Working Principle: During operation, the mobile chassis 1 moves the machine body 2 to the preset working position and stops; the drilling and anchoring mechanism 7 performs drilling and / or anchor screwing-in actions; the status acquisition module collects anchoring status information and sends it to the control module; the control module determines whether the preset anchoring conditions are met based on the anchoring status information. When the anchoring status meets the preset anchoring conditions, the control module allows the tensioning mechanism 6 and / or the winding mechanism 5 to start. The traction medium passes through the tensioning mechanism 6 and the winding mechanism 5 in sequence. The tensioning mechanism 6 adjusts the tension of the traction medium, and the winding mechanism 5 winds up or releases the tensioned traction medium. During the winding or releasing process, the status acquisition module continuously collects tension status information, winding status information, attitude status information, and communication status information. The control module performs tension linkage adjustment, winding protection, communication abnormality protection, or emergency stop control based on the above status information.

[0054] In summary, by using the mobile chassis 1, body 2, frame 3, winding mechanism 5, tensioning mechanism 6, drilling and anchoring mechanism 7, status acquisition module, wireless self-organizing network communication module and control module in combination, the winch can enter the tensioning or winding operation only after the anchoring condition is met, and linkage protection can be performed according to the tensioning status and communication status during the operation.

[0055] Example 2 Reference Figure 1 and Figure 4 This is the second embodiment of the present invention. Unlike embodiment 1, this embodiment provides a specific structure for the mobile chassis 1.

[0056] Specifically, the mobile chassis 1 includes a first tracked traveling assembly and a second tracked traveling assembly respectively disposed on both sides of the body 2. Both the first and second tracked traveling assemblies include a mobile frame 101, a tensioning frame 102, a tensioning wheel 103, a driven wheel 104, a support wheel 105, a mobile drive component 106, a drive wheel 107, and a track 108. The mobile frame 101 is connected to the body 2. The mobile drive component 106 is disposed on the mobile frame 101. The drive wheel 107 is connected to the mobile drive component 106. The driven wheel 104, tensioning wheel 103, and support wheel 105 are disposed on the mobile frame 101. The track 108 is wound around the drive wheel 107 and the driven wheel 104 and contacts the tensioning wheel 103 and the support wheel 105.

[0057] Furthermore, the movable frame 101 supports the drive wheel 107, driven wheel 104, tension wheel 103, and support wheel 105. A tensioning frame 102 is mounted on the movable frame 101, and the tension wheel 103 is mounted on the tensioning frame 102. The tension wheel 103 adjusts the tension of the track 108, and the support wheel 105 supports the bottom of the track 108, ensuring contact between the track 108 and the ground. The movable drive unit 106 drives the drive wheel 107 to rotate, and the drive wheel 107 drives the driven wheel 104 to rotate via the track 108, causing the track 108 to form a cyclic movement path.

[0058] The control module controls the movement drive components 106 of the first and second tracked walking components respectively. When the two movement drive components 106 move in the same direction and at the same speed, the machine body 2 moves straight; when the two movement drive components 106 move at different speeds, the machine body 2 turns; when the two movement drive components 106 move in opposite directions, the machine body 2 can turn in place. Through the above differential control method, the machine body 2 can adjust its posture and position itself in narrow passages or complex construction sites.

[0059] Preferably, after the mobile chassis 1 reaches the working position, it is controlled to stop by the control module. After stopping, the drilling and anchoring mechanism 7 performs drilling and / or anchor screwing-in actions, so that the mobile positioning and anchoring operations form a continuous operation process.

[0060] Working principle: When the mobile wireless self-organizing network winch needs to be moved, the control module controls the two-sided moving drive components 106 to start. The moving drive components 106 drive the drive wheel 107 to rotate, and the drive wheel 107 drives the driven wheel 104 to rotate through the track 108. The track 108 runs under the support of the tension wheel 103 and the support wheel 105, and generates a walking driving force by contacting the ground, so that the machine body 2 moves to the preset working position. After reaching the preset working position, the control module controls the moving drive components 106 to stop, so that the machine body 2 is kept in the working position.

[0061] Example 3 Reference Figure 4 This is the third embodiment of the present invention. Unlike embodiment 2, this embodiment further illustrates the analysis method for the longitudinal slope stability, adhesion, and obstacle-crossing ability of the mobile chassis 1. The formulas in this embodiment can be used to analyze or verify the ability of the mobile chassis 1 to traverse complex terrain, and are not limited to control steps that the control module must perform.

[0062] Specifically, when the tracked chassis 108 moves on a slope, the center of gravity of the chassis 2 and its load-bearing structure, the contact state between the tracked chassis 108 and the ground, and the slope angle need to be considered. The formula for calculating the ultimate overturning angle of the tracked chassis 108 on a longitudinal slope is as follows: α1 = arctan(L2 / h) α2 = arctan(L1 / h) In the formula, L1 is the distance from the chassis center of gravity to the rear support point, in mm; L2 is the distance from the chassis center of gravity to the front support point, in mm; and h is the height of the chassis center of gravity above the ground, in mm. The maximum slope angle of the chassis on the slope is called the longitudinal slope angle αmax. When assessing the stability of a longitudinal slope, the chassis's anti-rollover capacity in the longitudinal direction can be determined based on α1 and α2.

[0063] Furthermore, when the Tracked 108 chassis moves on a slope, its force balance equation is as follows: F1 = G·sinαmax = φ·G·cosαmax In the formula, F1 is the longitudinal adhesion force on the ground, in N; G is the weight of the tracked chassis, in N; αmax is the maximum slope angle, in °; and φ is the chassis adhesion coefficient. The adhesion coefficient φ can be selected based on the ground material, water content, slope roughness, and the ground contact state of track 108. Through the above force balance relationship, it is possible to determine whether the tracked chassis 108 has sufficient adhesion on the slope.

[0064] The calculation formula for the tracked 108 chassis crossing vertical obstacles is as follows: H=(d / 2-Dh·tanθ)+(rx-rx·cosθ) In the formula, H is the vertical obstacle height in mm; h is the center of gravity height in mm; θ is the chassis climbing angle in °; D is the longitudinal offset distance of the chassis's center of gravity relative to the center of its contact with the ground in mm; d is the distance between the centers of the tension wheel 103 and the drive wheel 107 perpendicular to the chassis direction in mm; and rx is the radius of the tension wheel 103 in mm. This formula shows that the chassis's center of gravity position, center of gravity height, and the structural parameters of the tension wheel 103 all affect the obstacle-crossing height.

[0065] Working principle: During the movement of the mobile wireless self-organizing network winch, the stability of the slope and obstacle crossing ability can be analyzed or verified based on the center of gravity position of the track 108 chassis, the distance between support points, the slope angle, the adhesion coefficient and the structural parameters of the tension wheel 103, thereby providing a basis for the selection of the operation path and the determination of the parking position.

[0066] Example 4 Reference Figure 1 and Figure 2 This is the fourth embodiment of the present invention. Unlike the embodiments described above, this embodiment provides specific structures for the winding mechanism 5 and the tensioning mechanism 6.

[0067] Specifically, the winding mechanism 5 includes a motor base 51, a servo motor 52, a first mounting base 53, and a winding roller 54. In this embodiment, the servo motor 52 serves as the winding drive, and the first mounting base 53 serves as the first support. Both the motor base 51 and the first mounting base 53 are mounted on the frame 3. The servo motor 52 is mounted on the motor base 51. One end of the winding roller 54 is connected to the output end of the servo motor 52, and the other end is rotatably connected to the first mounting base 53. The servo motor 52 drives the winding roller 54 to rotate around its axis, thereby causing the traction medium to wind around the winding roller 54 or be released from the winding roller 54.

[0068] Furthermore, the tensioning mechanism 6 includes a differential motor 61, a second mounting base 62, and a tensioning roller 63. In this embodiment, the differential motor 61 serves as the tensioning drive, and the second mounting base 62 serves as the second support. Both the differential motor 61 and the second mounting base 62 are mounted on the frame 3. One end of the tensioning roller 63 is connected to the output end of the differential motor 61, and the other end is rotatably connected to the second mounting base 62. The tensioning roller 63 is located on the rope-entry side of the take-up roller 54. The differential motor 61 drives the tensioning roller 63 to rotate, so that the traction medium is pre-tensioned before entering the take-up roller 54.

[0069] In this arrangement, the output side of the tensioning mechanism 6 and the input side of the winding mechanism 5 are arranged adjacent to each other along the direction of traction medium conveying, so that the traction medium passes sequentially around the tensioning roller 63 and the winding roller 54. Through this arrangement, the tension of the traction medium is adjusted before entering the winding roller 54, thereby reducing the occurrence of loose rope, off-center winding, or uneven winding when the traction medium directly enters the winding roller 54.

[0070] Preferably, hooks 4 are fixedly installed at both ends of the frame 3. The hooks 4 are used to assist in connecting, fixing or suspending the frame 3 or related traction components during construction.

[0071] Working principle: When the traction medium is wound up, it first passes around the tension roller 63. The differential motor 61 drives the tension roller 63 to rotate, so that the traction medium is pre-tensioned before entering the take-up roller 54. Subsequently, the servo motor 52 drives the take-up roller 54 to rotate, so that the traction medium is wound around the take-up roller 54. When the traction medium is released, the servo motor 52 controls the take-up roller 54 to rotate in the opposite direction or be released in a controlled manner. The differential motor 61 adjusts the speed or torque of the tension roller 63 to keep the traction medium in a preset tension state during the release process.

[0072] Example 5 Reference Figure 1 and Figure 2 This is the fifth embodiment of the present invention. Unlike embodiment 4, this embodiment provides a tensioning state acquisition unit in the state acquisition module and a tensioning cross-check and linkage control method.

[0073] Specifically, the status acquisition module includes a tension status acquisition unit. The tension status acquisition unit includes a tension detection element or a displacement detection element disposed at the traction medium, tension roller 63, or take-up roller 54, and at least one of a current detection circuit or a speed detection circuit connected to the differential motor 61 or servo motor 52. The tension detection element can be a pin-type tension sensor, an S-type tension sensor, or other sensor capable of detecting the force state of the traction medium; the displacement detection element can be a wire encoder, a photoelectric displacement detection element, or a magnetically encoded displacement detection element; the current detection circuit can include a Hall current sensor or a driver current sampling circuit; the speed detection circuit can include an encoder disposed at the differential motor 61, servo motor 52, or take-up roller 54.

[0074] Furthermore, the tension status acquisition unit uses a combination of direct measurement and indirect verification to obtain the tension status. During direct measurement, the tension detection element collects the force information of the traction medium acting on the tension roller 63, guide wheel, or take-up roller 54, and obtains the direct tension value of the traction medium after signal conditioning and analog-to-digital conversion. During indirect verification, the control module reads the current, speed, and driver status information of the differential motor 61 and servo motor 52, and calculates the output torque or equivalent tension estimate of the differential motor 61 and servo motor 52 based on the motor current, torque constant, transmission ratio, transmission efficiency, and the equivalent radius of the tension roller 63 or take-up roller 54. The control module cross-compares the direct tension value with the equivalent tension estimate. When the deviation between the direct tension value and the equivalent tension estimate exceeds the preset allowable deviation range, the control module outputs tension status abnormality information and controls the take-up mechanism 5 to reduce speed, pause, or brake according to the degree of abnormality.

[0075] The control module adjusts the speed, torque, or start / stop status of the differential motor 61 and servo motor 52 based on the tension, displacement, load of the differential motor 61, load of the servo motor 52, or speed of the take-up roller 54 collected by the tensioning status acquisition unit, so as to keep the traction medium within the preset tension range. The preset tension range can be pre-set according to the rated load-bearing capacity of the traction medium, the rated traction force of the winch operation, the traction length, the working slope, and the on-site construction requirements.

[0076] Preferably, the control module can perform the following linkage control based on the tension state: When the tension of the traction medium exceeds the upper limit of the preset tension range and the rope jamming judgment condition is not met, the control module first adjusts the differential motor 61 to release the pre-tension force on the rope entry side; if the tension still does not fall back to the preset tension range, the servo motor 52 is further adjusted to synchronously slow down the winding speed.

[0077] When the tension of the traction medium is lower than the lower limit of the preset tension range, the control module maintains the winding speed of the servo motor 52 or makes it run at a preset low speed, and adjusts the differential motor 61 to make the preload of the traction medium rise back to the preset tension range.

[0078] When the tension acquisition value undergoes an abnormal jump within a preset time, and at least one of the loads of the differential motor 61 or the servo motor 52 exhibits a corresponding abnormal change, the control module controls the differential motor 61 and the servo motor 52 to decelerate, pause, or stop according to the direction and amplitude of the jump, and causes the winding mechanism 5 to enter a braking state when safety conditions are met. When there is no risk of the traction medium slipping back and the safety release conditions are met, the control module can control the servo motor 52 to perform a slight reverse release to reduce residual stress; otherwise, the winding mechanism 5 remains braked and awaits manual obstacle removal.

[0079] Working principle: During the winding or unwinding process, the tension acquisition unit continuously collects the tension of the traction medium, the displacement of the traction medium, the load of the differential motor 61, the load of the servo motor 52, and the rotational speed of the winding roller 54. The control module cross-checks the direct tension value with the equivalent tension value calculated based on the motor current, rotational speed, and transmission parameters. Based on the check results and the current operating conditions, it outputs corresponding control signals to the differential motor 61 and the servo motor 52 to keep the traction medium within the preset tension range.

[0080] Example 6 Reference Figure 1 and Figure 3 This is the sixth embodiment of the present invention. Unlike the embodiments described above, this embodiment provides a specific structure for the drilling anchoring mechanism 7.

[0081] Specifically, the drilling anchoring mechanism 7 includes a telescopic adjustment assembly, an angle adjustment assembly, a height adjustment assembly, and a rotary drive assembly. The telescopic adjustment assembly is connected to the frame 3 and is used to drive the rotary drive assembly to move in a direction closer to or further away from the machine body 2; the angle adjustment assembly is connected between the telescopic adjustment assembly and the height adjustment assembly and is used to adjust the drilling angle of the drill end relative to the ground; the height adjustment assembly is connected to the rotary drive assembly and is used to adjust the height of the rotary drive assembly relative to the ground; the rotary drive assembly is connected to the drilling component 711 or the anchor and is used to drive the drilling component 711 or the anchor to rotate.

[0082] Furthermore, the telescopic adjustment assembly includes a length housing 701, a length frame 702, and a push cylinder 703. The length housing 701 is fixed to the frame 3, and the length frame 702 extends at least partially into the length housing 701. The push cylinder 703 is disposed within the length housing 701, and its movable end is connected to the length frame 702 to drive the length frame 702 to slide relative to the length housing 701. When the push cylinder 703 extends or retracts, it can push the length frame 702 to slide relative to the length housing 701, thereby adjusting the extension position of the drilling component 711 relative to the machine body 2.

[0083] The angle adjustment assembly includes a lifting frame 705, an angle seat 712, and an angle cylinder 708. One end of the lifting frame 705 is rotatably connected to the length frame 702, the angle seat 712 is fixedly mounted on the length frame 702, and one end of the angle cylinder 708 is rotatably connected to the angle seat 712, while the other end is movably connected to the lifting frame 705. When the angle cylinder 708 extends or retracts, it can push the lifting frame 705 to deflect at an angle relative to the length frame 702, thereby adjusting the drilling angle of the drilling component 711 relative to the ground.

[0084] Preferably, the height adjustment assembly includes a rack 707, a movable seat 704, and a geared motor 706. The rack 707 is fixedly mounted on the lifting frame 705, the movable seat 704 is slidably connected to the rack 707, and the geared motor 706 is fixedly mounted on the movable seat 704, with its output end meshing with the rack 707. When the geared motor 706 rotates, it drives the movable seat 704 to move along the rack 707 through its meshing relationship with the rack 707, thereby adjusting the height of the drilling component 711 relative to the ground.

[0085] The rotary drive assembly includes a drilling table 709, a first motor 710, and a drilling component 711. The drilling table 709 is fixedly mounted on the movable base 704, the first motor 710 is fixedly mounted on the drilling table 709, and the drilling component 711 is connected to the output end of the first motor 710. The first motor 710 drives the drilling component 711 to rotate, causing the drilling component 711 to perform drilling and / or anchor screwing-in actions.

[0086] In one alternative embodiment, the drilling component 711 can be a drill bit, a auger drill rod, a helical ground anchor, or a screw-in anchor. When the drilling component 711 is a helical ground anchor or a screw-in anchor, the first motor 710 drives the drilling component 711 to be screwed into the ground to form an anchoring foundation for subsequent traction or lifting.

[0087] Working principle: When the mobile wireless self-organizing network winch moves to the preset working position, the push cylinder 703 pushes the length frame 702 to slide relative to the length shell 701 to adjust the extension position of the drilling part 711; the angle cylinder 708 pushes the lifting frame 705 to deflect relative to the length frame 702 to adjust the drilling angle of the drilling part 711; the reduction motor 706 drives the movable seat 704 to move through the rack 707 to adjust the height of the drilling table 709, the first motor 710 and the drilling part 711; then, the first motor 710 drives the drilling part 711 to rotate, so that the drilling part 711 drills holes in the ground and / or screws the anchors into the ground.

[0088] Example 7 Reference Figures 1 to 3 This is the seventh embodiment of the present invention. Unlike embodiment 6, this embodiment provides an anchoring status acquisition unit, an anchoring safety interlocking method, and a linkage processing method when the anchoring is unqualified.

[0089] Specifically, the status acquisition module includes an anchoring status acquisition unit. The anchoring status acquisition unit includes at least two of the following: a rotational detection element or displacement detection element for detecting the drilling depth or number of turns of the anchor; a current detection element, pressure detection element, or torque detection element for detecting the load on the rotary drive assembly; a limit detection element or proximity detection element for detecting the anchor's position; and a tension detection element or micro-displacement detection element for detecting the anchor's pull-out resistance. The rotational detection element can be located at the output shaft of the first motor 710 or the connecting shaft of the drilling component 711; the displacement detection element can be located at the movement path of the lifting frame 705, the movable seat 704, or the drilling component 711; the current detection element, pressure detection element, or torque detection element can be located at the power supply circuit of the first motor 710, the reduction motor 706, or the rotary drive assembly; the limit detection element or proximity detection element can be located at the anchor's position; and the micro-displacement detection element can be located at the relative displacement detection position between the drilling anchoring mechanism 7, the anchor, or the body 2 and the ground.

[0090] Furthermore, the rotation detection device is used to collect the number of turns of the drill bit 711 or the anchor, and the displacement detection device is used to collect the downward stroke of the drill bit 711 or the anchor. The control module calculates the theoretical drilling depth of the anchor based on the number of turns and the downward stroke. Current, pressure, or torque detection devices are used to collect the load changes of the first motor 710 or the rotary drive assembly during the anchor's insertion process. When the drilling depth increases and the load enters a preset load range, the control module determines that the anchor and the formation have formed an engagement state. Limit detection or proximity detection devices are used to output an anchor positioning signal to confirm that the anchor is in a preset stress position. Tension detection or micro-displacement detection devices are used to detect the anchor pull-out state to confirm whether the displacement of the anchor under test tension is within a preset safety tolerance range.

[0091] The control module comprehensively judges whether the anchoring status meets the preset anchoring conditions based on the data collected by the anchoring status acquisition unit. The preset anchoring conditions may include the following combinations: First, the drilling depth fed back by the rotation or displacement detection device reaches the preset safe depth, and the load of the rotation drive component fed back by the current, pressure, or torque detection devices remains within the preset load range within a preset number of revolutions; Second, the limit or proximity detection device outputs an anchor placement signal; Third, the control module controls the winding mechanism 5 to apply a preset test tension to the traction medium at a low speed, and judges whether the anchoring pull-out resistance meets the requirements based on the tension and micro-displacement detection devices. If the displacement of the anchor or body 2 relative to the ground detected by the micro-displacement detection device is less than the preset safety tolerance threshold, and the test tension does not decrease beyond a preset amplitude, the control module determines that the anchoring pull-out resistance meets the requirements.

[0092] Preferably, the control module is configured to allow the tensioning mechanism 6 and / or the winding mechanism 5 to start when the anchoring status information meets the preset anchoring conditions; and to block the start of the winding mechanism 5 and maintain braking when the anchoring status information does not meet the preset anchoring conditions. Blocking the start of the winding mechanism 5 can be achieved by cutting off or blocking the enable signal, safe torque stop signal, or start control signal of the servo motor 52 driver; maintaining braking can be achieved by controlling the brake of the winding mechanism 5 to maintain the braking state. If the differential motor 61 is related to the tensioning of the traction medium, the control module can also synchronously restrict the start of the differential motor 61.

[0093] When the anchoring status information does not meet the preset anchoring conditions, the control module can perform different processing based on the reason for the non-compliance.

[0094] When the failure is due to insufficient drilling depth and the load on the rotary drive component does not exceed the preset overload threshold, the control module keeps the winding mechanism 5 braked and outputs a supplementary drilling prompt signal. After receiving a manual confirmation signal, the control module can control the first motor 710 to drive the drilling component 711 to rotate in the reverse direction a preset number of times, and then control the drilling component 711 to rotate forward to perform supplementary drilling. The number of supplementary drilling operations can be set to one or more. When the preset anchoring conditions are still not met after the preset number of supplementary drilling operations, the control module keeps the winding mechanism 5 braked and outputs a re-anchoring prompt.

[0095] When the failure is due to abnormally high load on the rotary drive component, failure to trigger the anchor positioning signal, pull-out test displacement exceeding the preset safety tolerance range, or test tensile force attenuation exceeding the preset range, the control module maintains the start-up lock of the winding mechanism 5 and tensioning mechanism 6, and outputs anchoring abnormality alarm information. The alarm information can be output through the on-board audible and visual alarm, ground operation terminal, or aerial work terminal, and may include fault categories such as insufficient depth, abnormal load, abnormal positioning, abnormal pull-out displacement, or abnormal test tensile force.

[0096] In one alternative implementation, when the control module determines that the anchoring is abnormal and not suitable for automatic drilling, it only grants the reverse exit control permission for the drilling component 711 or the anchor. After the anchor is removed, the control module keeps the winding mechanism 5 and the tensioning mechanism 6 locked until the operator reselects the anchoring position and re-completes the drilling, screwing, positioning detection and pull-out detection process.

[0097] Working principle: After drilling or anchoring is completed, a rotation or displacement sensor detects the drilling depth and number of rotations; a current, pressure, or torque sensor detects the load on the rotation drive assembly; a limit or proximity sensor detects the anchor's position; and a tension and micro-displacement sensor detects the anchor's pull-out resistance. The control module combines these detection signals to determine whether the anchoring condition meets the preset anchoring requirements. If it does, the tensioning mechanism 6 and / or the winding mechanism 5 are allowed to start; if not, the winding mechanism 5 is blocked from starting and kept braked, and additional drilling, alarm activation, anchor retraction, or re-anchoring is performed based on the reason for the failure.

[0098] Example 8 Reference Figure 5 This is the eighth embodiment of the present invention. This embodiment provides a mobile wireless self-organizing network winch system, which can be used for status information interaction, collaborative control and emergency stop response between the winch end, the ground operation end and the high-altitude operation end.

[0099] Specifically, the mobile wireless ad hoc winch system includes a mobile wireless ad hoc winch, a ground control terminal, an aerial work terminal, and relay nodes. The mobile wireless ad hoc winch, ground control terminal, and aerial work terminal act as communication nodes connected to the same wireless ad hoc network communication link. Relay nodes are positioned on the communication path between any two communication nodes and are used to forward control commands, status information, or alarm information. Relay nodes can be independently powered communication forwarding devices, or they can be communication nodes located at a high point on the construction site, in the middle of the tower, or at a ground relay position.

[0100] Furthermore, the wireless ad hoc network communication link can adopt a mesh communication method. Each communication node can use a LoRaMesh communication module, a frequency-hopping spread spectrum mesh communication module, or other wireless ad hoc network communication modules suitable for long-distance construction sites. After power-on, each communication node can send a handshake message and establish a node list or routing table; the wireless ad hoc network communication module establishes or updates routes based on the received signal strength, signal-to-noise ratio, communication delay, number of packet losses, or node online status of each communication node, so that control commands, status information, or alarm information are transmitted via single-hop or multi-hop paths.

[0101] The mobile wireless ad hoc winch acts as the execution node, performing movement, drilling and anchoring, tensioning, and winding actions, and transmitting anchoring status information, tensioning status information, winding status information, attitude status information, and communication status information. The ground operation terminal sends movement control commands, drilling and anchoring control commands, tensioning control commands, winding control commands, control transfer commands, or emergency stop commands. The aerial work terminal receives the anchoring status information, tensioning status information, winding status information, communication status information, or control status information transmitted by the mobile wireless ad hoc winch, and sends coordinated control commands, jog control commands, or emergency stop commands.

[0102] Preferably, the tension, anchoring, winding, attitude, and communication status data collected by the mobile wireless self-organizing network winch can be transmitted to the ground operation terminal and the aerial work terminal via the wireless self-organizing network communication link. The ground operation terminal and the aerial work terminal can display or display the above status information via a display screen, indicator light, buzzer, or vibration alert unit. The status information can be transmitted via broadcast, multicast, or directional transmission, enabling ground operators and aerial workers to be aware of the equipment's operating status.

[0103] In one optional embodiment, the aerial work terminal is a wearable terminal, equipped with a status display unit, a jog control input, and an emergency stop input. The status display unit displays or indicates tension status, anchoring status, winding status, link quality, and / or control status. The jog control input sends jog winding or jog unwinding commands after the aerial work terminal gains control. The emergency stop input sends emergency stop commands regardless of the control status.

[0104] Working Principle: During system operation, the mobile wireless ad hoc winch, ground control terminal, aerial work terminal, and relay node are connected to the same wireless ad hoc network communication link. The ground control terminal sends movement, drilling and anchoring, tensioning, winding, or emergency stop commands to the mobile wireless ad hoc winch. The aerial work terminal receives the operational status information from the mobile wireless ad hoc winch and sends coordinated control commands or emergency stop commands based on the on-site operational conditions. After receiving the above commands, the mobile wireless ad hoc winch controls the movement of the mobile chassis 1, drilling and anchoring mechanism 7, tensioning mechanism 6, and winding mechanism 5 through the control module, and transmits the operational status information back to the ground control terminal and / or the aerial work terminal.

[0105] Example 9 Reference Figure 5 This is the ninth embodiment of the present invention. Unlike embodiment 8, this embodiment provides control management, communication anomaly protection, and communication recovery interlocking methods.

[0106] Specifically, the control module manages the control rights of the ground operation terminal and the aerial work terminal. Control rights can be represented by control tokens. By default, the ground operation terminal holds the control token, which the aerial work terminal uses for status viewing and emergency stop input. When the ground operation terminal sends a control transfer command, and the aerial work terminal confirms it, the aerial work terminal obtains the control token. The control module then responds to the jog rewind or jog unwind commands sent by the aerial work terminal and restricts the execution of ordinary rewind or unwind control commands sent by the ground operation terminal.

[0107] Furthermore, when the aerial work terminal holds the control token, the ground control terminal can still receive status and alarm information and send emergency stop commands; similarly, when the ground control terminal holds the control token, the aerial work terminal can still receive status and alarm information and send emergency stop commands. Emergency stop commands are not restricted by the control token's status. This control management method reduces the likelihood of conflicting rewind or unwind commands being sent simultaneously by the ground control terminal and the aerial work terminal.

[0108] The control module determines whether a communication node is abnormal based on communication status information. Communication abnormalities may include the current control node being disconnected, link quality not meeting preset communication conditions, communication delay exceeding a preset value, or failure to receive valid heartbeat information or status confirmation information for a preset number of consecutive times. Link quality not meeting preset communication conditions may include received signal strength lower than a preset value or signal-to-noise ratio lower than a preset value; communication delay can be calculated using data packet timestamps; heartbeat information can be sent by the current control node according to a preset period.

[0109] Preferably, when a communication anomaly occurs at a communication node or relay node that does not hold a control token, and the main control link between the current control node and the mobile wireless ad hoc winch meets the communication conditions, the control module can keep the tensioning mechanism 6 and the winding mechanism 5 running according to the original set parameters, and re-establish or update the route through the wireless ad hoc communication module, while outputting communication warning information to the ground operation terminal and / or the high-altitude operation terminal.

[0110] When a communication failure occurs at the current control node, the control module strips the control token from the current control node and controls the tensioning mechanism 6 and the winding mechanism 5 to stop, decelerate, and then brake, or brake directly. When using deceleration followed by braking, the control module first controls the differential motor 61 and servo motor 52 to decelerate according to a preset deceleration slope; once the speeds of the differential motor 61 and servo motor 52 have decreased to a preset stopping range, the winding mechanism 5 is controlled to enter braking mode. When using direct braking, the control module directly controls the winding mechanism 5 to brake based on the tension status, winding status, and fault level.

[0111] Furthermore, after communication is restored, the control module does not automatically resume operation of the tensioning mechanism 6 and the winding mechanism 5. After the wireless ad hoc network communication link is re-established or the routing is updated, the control module enters a communication restoration interlock state. In this state, the control module continues to keep the winding mechanism 5 braked and restricts the execution of ordinary winding, unwinding, or tensioning control commands. Once the control module receives valid heartbeat and status confirmation information within a preset time period, and the link quality meets preset communication conditions, it waits for a manual confirmation signal from the ground operation terminal or the high-altitude operation terminal.

[0112] After receiving a manual confirmation signal, the control module verifies the anchoring status, tension status, winding status, attitude status, and communication status. When the anchoring status meets preset anchoring conditions, the tension of the traction medium is within the preset tension range, the winding mechanism 5 is not in its extreme state, the body 2's attitude does not exceed the preset attitude threshold, and the communication status meets preset communication conditions, the control module releases the communication interlock and allows the ground operation terminal or aerial work terminal to resend control commands. If any of the above states do not meet the conditions for continuing operation, the control module maintains the interlock and outputs corresponding status abnormality information.

[0113] Operating Principle: During normal operation, the control module determines the response to ordinary control commands from the ground operation terminal or aerial work terminal based on the control token. If a node without a control token experiences communication abnormalities, the control module updates the route and outputs a warning; if the current control node experiences communication abnormalities, the control module revoks its control and controls the tensioning mechanism 6 and the winding mechanism 5 to stop, decelerate, and then brake, or directly brake. After communication is restored, the control module maintains an interlocked state, and only allows resumption of operation after manual confirmation and completion of anchoring, tensioning, winding, attitude, and communication status verification.

[0114] Example 10 Reference Figure 5 This is the tenth embodiment of the present invention. Unlike embodiment 9, this embodiment provides emergency stop control and emergency stop reset methods.

[0115] Specifically, emergency stop commands can be issued from the ground control terminal, the aerial work platform terminal, or the mobile wireless self-organizing network winch itself. Emergency stop commands sent from the ground control terminal and the aerial work platform terminal have higher control priority than movement control commands, drilling anchoring control commands, tension control commands, and winding control commands. Emergency stop commands sent from the emergency stop input device of the aerial work platform terminal are not subject to control authority status restrictions.

[0116] Furthermore, upon receiving an emergency stop command, the control module stops the mobile chassis 1, drilling and anchoring mechanism 7, tensioning mechanism 6, and winding mechanism 5, and puts winding mechanism 5 into a braking state. After the mobile chassis 1 stops, the machine body 2 no longer performs any moving actions; after the drilling and anchoring mechanism 7 stops, the drilling component 711 no longer performs any drilling, screwing-in, or retraction actions; after the tensioning mechanism 6 stops, the differential motor 61 no longer dynamically adjusts the tension of the traction medium; after the winding mechanism 5 stops and brakes, the winding roller 54 remains within the position range at the time of the emergency stop.

[0117] The mobile wireless self-organizing network winch can be equipped with an emergency stop input on its own end, which can be connected to a safety relay, main contactor, or driver safety port. In one optional embodiment, when the emergency stop input on the own end is triggered, the control module controls the relevant driver to stop output and controls the winding mechanism 5 to brake; when the ground operation terminal or the aerial work terminal triggers an emergency stop, the emergency stop command is sent to the mobile wireless self-organizing network winch via the wireless self-organizing network communication link, and the control module executes the emergency stop control after receiving the emergency stop command.

[0118] Preferably, after the emergency stop is released, the control module does not directly resume the operation of the tensioning mechanism 6 and the winding mechanism 5, but instead enters the emergency stop reset interlock state. In the emergency stop reset interlock state, the execution of normal movement control commands, drilling anchoring control commands, tensioning control commands, and winding control commands is restricted. After the operator releases the emergency stop input, they also need to input a manual reset confirmation signal through the ground operation terminal, the machine's operation terminal, or the aerial work terminal.

[0119] After receiving a manual reset confirmation signal, the control module verifies the anchoring status, tension status, winding status, attitude status, and communication status. When the anchoring status meets the preset anchoring conditions, the tension of the traction medium is within the preset tension range, the winding mechanism 5 is not in a winding limit or fault braking state, the machine body 2's attitude is within the preset safety range, and the wireless self-organizing network communication link is in normal condition, the control module releases the emergency stop reset interlock, putting the equipment into standby mode. After releasing the interlock, the control module does not automatically resume the winding or releasing action before the emergency stop, but waits for new control commands.

[0120] When an emergency stop command originates from the aerial work terminal, the control module restricts the ground control terminal from sending normal control commands. When an emergency stop command originates from either the ground control terminal or the aerial work terminal itself, the control module restricts the aerial work terminal from sending normal collaborative control commands. This reduces the risk of malfunctions caused by different control terminals continuing to send normal control commands during an emergency stop.

[0121] Working Principle: In the event of a sudden hazard, any one of the ground control terminal, aerial work terminal, or the machine terminal sends an emergency stop command. Upon receiving the emergency stop command, the control module stops the mobile chassis 1, drilling anchoring mechanism 7, tensioning mechanism 6, and winding mechanism 5, and puts winding mechanism 5 into a braking state. After the emergency stop is released, the control module waits for manual reset confirmation. Only after confirming that the anchoring, tensioning, winding, attitude, and communication status meet the conditions for continuing operation is the corresponding mechanism allowed to be restarted.

[0122] Example 11 Reference Figures 1 to 5 This is the eleventh embodiment of the present invention. This embodiment provides a control method for a mobile wireless self-organizing network winch, which is applied to the above-mentioned mobile wireless self-organizing network winch system. It can realize sequential control of mobile positioning, drilling and anchoring, anchoring status judgment, tension linkage adjustment, winding and traction, communication abnormality protection and emergency stop braking.

[0123] Specifically, the system enables mobile wireless ad hoc network winches, ground control terminals, and aerial work terminals to connect to the wireless ad hoc network communication link. After the wireless ad hoc network communication link is established, the wireless ad hoc network communication module establishes or updates routes based on the link quality of each communication node, enabling the winch, ground control terminal, and aerial work terminal to transmit control commands, status information, or alarm information.

[0124] Furthermore, the mobile wireless self-organizing network winch is controlled to reach the working position according to the mobile control command sent by the ground operation terminal. The control module controls the start of the mobile drive component 106, which drives the drive wheel 107 to rotate. The drive wheel 107 drives the driven wheel 104 to rotate through the track 108, so that the machine body 2 moves to the preset working position and stops.

[0125] The drilling and / or anchoring mechanism 7 controls the drilling and / or anchoring insertion. A push cylinder 703 pushes the length frame 702 to slide relative to the length shell 701, an angle cylinder 708 pushes the lifting frame 705 to deflect relative to the length frame 702, a reduction motor 706 drives the movable seat 704 to move via a rack 707, and a first motor 710 drives the drilling component 711 to rotate, thereby completing the drilling and / or anchoring insertion action.

[0126] Preferably, the system collects anchorage status information and determines whether preset anchorage conditions are met. If met, the tensioning mechanism 6 and / or the winding mechanism 5 are allowed to start; if not, the winding mechanism 5 is prohibited from starting or remains braked. Anchorage status information may include one or more of the following: anchor drilling depth, number of turns, load on the rotary drive assembly, anchor positioning signal, or anchor pull-out resistance status. The control module comprehensively judges whether the anchorage status meets the preset anchorage conditions based on the data collected by the anchorage status acquisition unit, and if the preset anchorage conditions are not met, the winding mechanism 5 is blocked from starting and remains braked.

[0127] Furthermore, the tension status information is collected and the tensioning mechanism 6 and the winding mechanism 5 are adjusted in conjunction to keep the traction medium within a preset tension range. The tension status information may include one or more of the following: traction medium tension, traction medium displacement, differential motor 61 load, servo motor 52 load, or winding roller 54 speed. The control module cross-checks the direct tension information with the equivalent tension information obtained based on motor current, speed, and transmission parameters, and adjusts the speed, torque, or start / stop status of the differential motor 61 and servo motor 52 according to the check results.

[0128] The system monitors communication status during winding or unwinding. If communication is abnormal, the winding mechanism 5 is stopped, slowed down, or braked. The control module determines a communication anomaly when the current control node is disconnected, the link quality does not meet preset communication conditions, the communication delay exceeds a preset value, or no valid heartbeat or status confirmation information is received within a preset time. If the communication anomaly occurs at the current control node, the control module strips the current control node of its control and stops, slows down, and brakes the winding mechanism 5 and tensioning mechanism 6, or brakes them directly. After communication is restored, the control module maintains a communication restoration interlock, allowing the resending of control commands only after manual confirmation and status confirmation.

[0129] Preferably, upon receiving an emergency stop command, the mobile chassis 1, drilling anchoring mechanism 7, tensioning mechanism 6, and winding mechanism 5 are stopped, and the winding mechanism 5 is braked. The emergency stop command can originate from the ground operation terminal, the aerial work terminal, or the mobile wireless self-organizing network winch itself. After the emergency stop is released, the control module maintains the emergency stop reset interlock, and upon receiving manual reset confirmation and confirming that the anchoring status, tensioning status, winding status, attitude status, and communication status meet the conditions for continuing operation, the interlock is released and the module enters standby mode.

[0130] Working principle: This control method first establishes a wireless ad hoc network communication link, then controls the mobile wireless ad hoc network winch to move to the preset working position; subsequently, it controls the drilling and anchoring mechanism 7 to perform drilling and / or anchoring actions, and collects anchoring status information; when the anchoring status meets the preset anchoring conditions, it starts the tensioning mechanism 6 and / or the winding mechanism 5, and controls the tensioning mechanism 6 and the winding mechanism 5 according to the tensioning status information; during the winding or releasing process, the communication status is detected, and if the communication is abnormal, the winding mechanism 5 is controlled to stop, reduce speed, or brake; when an emergency stop command is received, all mechanisms stop and the winding mechanism 5 brakes; after communication is restored or the emergency stop is lifted, manual confirmation and status confirmation are required before work can resume.

[0131] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mobile wireless self-organizing network winch, characterized in that, include: Organism; A mobile chassis that carries the machine body and is used to move or stop the machine body. A drilling and anchoring mechanism, disposed on the machine body, is used to perform drilling and / or anchor screwing-in actions; The tensioning mechanism is located on the conveying path before the traction medium enters the winding mechanism and is used to adjust the tension of the traction medium. A winding mechanism is used to wind up or release the traction medium after it has been adjusted by the tensioning mechanism. The status acquisition module is used to acquire at least one of the following: anchoring status information, tensioning status information, winding status information, attitude status information, and communication status information; The wireless ad hoc network communication module is used to establish a wireless ad hoc network communication link with ground operation terminals, aerial work terminals and / or relay nodes; The control module is electrically connected to the mobile chassis, drilling and anchoring mechanism, tensioning mechanism, winding mechanism, status acquisition module and wireless self-organizing network communication module respectively; The control module is configured to: allow the tensioning mechanism and / or the winding mechanism to start when the anchoring status information meets the preset anchoring conditions; adjust the tensioning mechanism and the winding mechanism in conjunction with the tensioning status information during the tensioning operation; and control the winding mechanism to stop, reduce speed, or brake when the communication status is abnormal.

2. The mobile wireless self-organizing network winch as described in claim 1, characterized in that: The machine body is provided with a frame, and the tensioning mechanism and the winding mechanism are both installed on the frame. The output side of the tensioning mechanism and the input side of the winding mechanism are arranged adjacent to each other along the traction medium conveying direction, so that the traction medium passes through the tensioning mechanism and the winding mechanism in sequence.

3. A mobile wireless self-organizing network winch as described in claim 2, characterized in that: The winding mechanism includes a winding drive component, a first support base, and a winding roller; Both the winding drive and the first support are mounted on the frame; One end of the take-up roller is connected to the output end of the take-up drive, and the other end is rotatably connected to the first support. The take-up drive unit drives the take-up roller to rotate about its axis, so as to cause the traction medium to wrap around the take-up roller or be released from the take-up roller.

4. A mobile wireless self-organizing network winch as described in claim 3, characterized in that: The tensioning mechanism includes a tensioning drive component, a second support seat, and a tensioning roller; The tensioning drive and the second support are both mounted on the frame; One end of the tension roller is connected to the output end of the tension drive, and the other end is rotatably connected to the second support seat; the tension roller is located on the rope entry side of the take-up roller, and the tension drive is a differential motor.

5. A mobile wireless self-organizing network winch as described in claim 4, characterized in that: The status acquisition module includes a tension status acquisition unit; The tension status acquisition unit includes a tension detection element or a displacement detection element disposed at the traction medium, the tension roller or the take-up roller, and at least one of a current detection circuit or a speed detection circuit connected to the tension drive or the take-up drive. The control module adjusts the speed, torque, or start / stop status of the tensioning drive and the winding drive based on the tension, displacement, load of the tensioning drive, load of the winding drive, or speed of the winding roller collected by the tensioning state acquisition unit, so as to keep the traction medium within the preset tension range.

6. A mobile wireless self-organizing network winch as described in claim 1 or 2, characterized in that: The drilling anchoring mechanism includes a telescopic adjustment component, an angle adjustment component, a height adjustment component, and a rotation drive component; The telescopic adjustment assembly is connected to the frame and is used to drive the rotary drive component to move in a direction closer to or away from the machine body; The angle adjustment component is connected between the telescopic adjustment component and the height adjustment component, and is used to adjust the drilling angle of the drill end relative to the ground. The height adjustment component is connected to the rotation drive component and is used to adjust the height of the rotation drive component relative to the ground; The rotary drive assembly is connected to the drilled part or anchor and is used to drive its rotation.

7. A mobile wireless self-organizing network winch as described in claim 6, characterized in that: The telescopic adjustment assembly includes a length shell, a length frame, and a push cylinder; the length shell is fixed to the frame; the length frame extends at least partially into the length shell; the push cylinder is disposed inside the length shell and its movable end is connected to the length frame to drive the length frame to slide relative to the length shell; The angle adjustment assembly includes a lifting frame, an angle seat, and an angle cylinder. One end of the lifting frame is rotatably connected to the length frame, the angle seat is fixedly mounted on the length frame, and one end of the angle cylinder is rotatably connected to the angle seat and the other end is movably connected to the lifting frame.

8. A mobile wireless self-organizing network winch as described in claim 7, characterized in that: The height adjustment assembly includes a rack, a movable seat, and a reduction motor. The rack is fixedly mounted on the lifting frame. The movable seat is slidably connected to the rack. The reduction motor is fixedly mounted on the movable seat and its output end meshes with the rack. The rotary drive assembly includes a drilling platform, a first motor, and a drilling component; the drilling platform is fixedly mounted on the movable base; the first motor is fixedly mounted on the drilling platform; and the drilling component is connected to the output end of the first motor.

9. A mobile wireless self-organizing network winch as described in any one of claims 6-8, characterized in that: The status acquisition module includes an anchorage status acquisition unit, which includes at least two of the following: a rotation detection element or displacement detection element for detecting the drilling depth or number of turns of the anchor; a current detection element, pressure detection element or torque detection element for detecting the load of the rotation drive component; a limit detection element or proximity detection element for detecting the anchor's position; and a tension detection element or micro-displacement detection element for detecting the anchorage pull-out resistance. The control module comprehensively judges whether the anchorage status meets the preset anchorage conditions based on the acquisition results of the anchorage status acquisition unit, and blocks the start of the winding mechanism and keeps it braked when the preset anchorage conditions are not met.

10. A mobile wireless self-organizing network winch as described in claim 1, characterized in that: The mobile chassis includes a first tracked walking assembly and a second tracked walking assembly respectively disposed on both sides of the machine body; Both the first tracked traveling assembly and the second tracked traveling assembly include a mobile frame, a mobile drive component, a drive wheel, a driven wheel, a tension wheel, a support wheel, and a track. The mobile frame is connected to the machine body, the drive wheel is drivenly connected to the mobile drive component, the driven wheel, the tension wheel, and the support wheel are disposed on the mobile frame, and the track is wound around the drive wheel and the driven wheel and contacts the tension wheel and the support wheel. The control module controls the movement drive components of the first tracked walking assembly and the second tracked walking assembly, respectively.

11. A mobile wireless self-organizing network winch system, characterized in that, Includes the mobile wireless self-organizing network winch, ground operation terminal, and high-altitude operation terminal as described in any one of claims 1-10; The mobile wireless self-organizing network winch, the ground operation terminal, and the aerial work terminal are connected to the same wireless self-organizing network communication link as communication nodes. The ground operation terminal is used to send movement control commands, drilling anchoring control commands, tension control commands, winding control commands, or emergency stop commands. The aerial work terminal is used to receive anchoring status information, tensioning status information, winding status information or communication status information sent by the mobile wireless self-organizing network winch, and to send collaborative control commands or emergency stop commands. The control module controls the corresponding mechanism to operate according to instructions from the ground operation terminal and / or the aerial work terminal.

12. The mobile wireless self-organizing network winch system as described in claim 11, characterized in that: It also includes relay nodes, which are set on the communication path between any two communication nodes and are used to forward control commands, status information or alarm information; The wireless ad hoc network communication module establishes or updates routes based on the link quality of each communication node, so that the control commands, status information or alarm information are transmitted via single-hop or multi-hop paths.

13. A mobile wireless self-organizing network winch system as described in claim 11 or 12, characterized in that: The aerial work terminal is a wearable terminal, equipped with a status display unit, a jog control input, and an emergency stop input. The status display unit is used to display or indicate the tension status, anchoring status, winding status, link quality, and / or control status. The jog control input is used to send a jog winding command or a jog unwinding command after the aerial work terminal gains control. The emergency stop command sent by the emergency stop input is not limited by the control status.

14. A mobile wireless self-organizing network winch system as described in claim 11 or 12, characterized in that: The control module is configured to: deprive the current control node of its control rights and control the winding mechanism and tensioning mechanism to stop, decelerate, and brake or directly brake when the current control node is disconnected, the communication signal strength is lower than a preset value, the communication delay exceeds a preset value, or no valid heartbeat information or status confirmation information is received within a preset time; when an emergency stop command is received from the ground operation terminal, the aerial work terminal, or the mobile wireless self-organizing network winch, control the mobile chassis, the drilling anchoring mechanism, the tensioning mechanism, and the winding mechanism to stop, and put the winding mechanism into a braking state.

15. A control method for a mobile wireless self-organizing network winch, characterized in that, The control method, applied to the mobile wireless self-organizing network winch system according to any one of claims 11 to 14, comprises: The mobile wireless self-organizing network winch, the ground operation terminal, and the aerial work terminal are connected to the wireless self-organizing network communication link. The mobile wireless self-organizing network winch is controlled to reach the working position according to the mobile control command sent by the ground operation terminal; The drilling and anchoring mechanism is controlled to perform drilling and / or anchoring screwing in; Collect anchoring status information and determine whether the preset anchoring conditions are met. If the conditions are met, allow the tensioning mechanism and / or the winding mechanism to start. If the conditions are not met, prohibit the winding mechanism from starting or keep it braked. Collect tension status information and adjust the tensioning mechanism and the winding mechanism in conjunction to keep the traction medium within a preset tension range; The communication status is detected during the winding or unwinding process. If the communication is abnormal, the winding mechanism is controlled to stop, reduce speed, or brake. Upon receiving an emergency stop command, the moving chassis, the drilling anchoring mechanism, the tensioning mechanism, and the winding mechanism are stopped, and the winding mechanism is braked.

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