CN116692616B - Cable coiling control method - Google Patents
Cable coiling control method Download PDFInfo
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- CN116692616B CN116692616B CN202310922341.3A CN202310922341A CN116692616B CN 116692616 B CN116692616 B CN 116692616B CN 202310922341 A CN202310922341 A CN 202310922341A CN 116692616 B CN116692616 B CN 116692616B
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- cable
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- mobile operation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
- B65H59/12—Stationary elements arranged to deflect material from straight path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
本发明涉及电缆收放领域，具体涉及一种电缆卷取控制方法。该方法初始时通过移动作业设备的预测轨迹来控制卷取盘卷取速度，并通过误差补偿装置对误差进行补偿，此后当前时段通过预测轨迹以及上一时段的误差补偿量共同控制电缆的收放速度，防止电缆张紧力过大，减少移动作业设备的作业范围以及防止电缆堆积造成电缆与地面之间的磨损加剧，影响电缆的使用寿命。同时避免了移动作业设备改变轨迹后的误差累积，进而确保电缆所需长度和卷取速度始终适配。
The present invention relates to the field of cable retraction and release, and specifically to a cable winding control method. The method initially controls the winding speed of the reel through the predicted trajectory of the mobile operating equipment, and compensates the error through the error compensation device. Thereafter, the current period uses the predicted trajectory and the error compensation amount of the previous period to jointly control the cable retraction and release speed, prevent the cable tension from being too large, reduce the operating range of the mobile operating equipment, and prevent the accumulation of cables from causing increased wear between the cable and the ground, affecting the service life of the cable. At the same time, it avoids the accumulation of errors after the mobile operating equipment changes its trajectory, thereby ensuring that the required length of the cable and the winding speed are always adapted.
Description
Technical Field
The invention relates to the field of cable winding and unwinding, in particular to a cable winding control method.
Background
The cable is widely used as an electric transmission device in production, and two power supply modes of mobile operation equipment on the market at present are adopted, one is powered by a battery, the other is powered by the cable, and the mobile operation equipment is electrically connected with a power supply through the cable to realize power supply. Because the energy density and the volume of the battery are lower, the load of the mobile operation equipment is larger, the duration of battery power supply is short, and power is supplied in a cable mode mostly, and long-time continuous operation of the mobile operation equipment can be realized within the length range of the cable.
Typically, the cable is wound on a reel to form a cable reel, and the reel and a driving device for driving the reel to rotate are arranged on an energy base station. In order to improve the operation range of the mobile operation equipment, the cable is set longer, so that the radius of the cable roll is larger, and the winding and unwinding speed of the cable is difficult to be matched with the running track of the mobile operation equipment due to the large mass and large inertia of the whole cable roll. When the running track of the mobile operation equipment is different from the winding and unwinding speed of the cable, if the winding speed is too high or the unwinding speed is too low, the tension of the cable is too high, the operation range of the mobile operation equipment is reduced, and if the winding speed is too low or the unwinding speed is too high, the cable is accumulated, the abrasion between the cable and the ground is increased, and the service life of the cable is influenced.
Disclosure of Invention
According to the defects of the prior art, the invention provides a cable coiling control method to solve the problem that the existing cable coiling and uncoiling speed is not matched with the travelling of mobile operation equipment.
The invention relates to a cable coiling control method which adopts the following technical scheme that the method comprises the following steps:
acquiring an actual track of the mobile operation equipment T 1 in a period;
Acquiring a predicted track of the mobile working equipment T 2 according to the actual track of the mobile working equipment T 1;
Adjusting the cable winding and unwinding speed of the period T 2 according to the predicted track of the period T 2 of the mobile operation equipment;
Acquiring an actual track of the mobile operation equipment in a T n+1 period, and compensating in real time in the T n+1 period by an error compensation device, wherein n is more than or equal to 1;
Calculating an error compensation amount of the period T n+1, and acquiring a predicted track of the period T n+2 of the mobile operation equipment according to an actual track of the period T n+1 of the mobile operation equipment;
And jointly adjusting the cable winding and unwinding speed of the period T n+2 according to the predicted track of the period T n+2 of the mobile working equipment and the error compensation quantity of the period T n+1.
Optionally, the step of acquiring the actual trajectory of the mobile working device comprises:
detecting an angle between the mobile work equipment and the cable;
The actual trajectory of the mobile work device is calculated from the angle between the mobile work device and the cable.
Optionally, the angle between the cable and the mobile work device is detected by an angle sensing device.
Optionally, the predicted trajectory of the mobile working device T n+1 period is a trajectory obtained by advancing along the actual trajectory of the mobile working device T n period.
Optionally, the T n+1 period error compensation amount is calculated according to the following formula:
the error compensation amount L is:
Wherein L2 represents the cable length between the energy base station at the end of the predicted track of the period T n+1 of the mobile operation device and the mobile operation device, L1 represents the cable length between the energy base station at the end of the actual track of the period T n+1 of the mobile operation device and the mobile operation device, L0 represents the cable length between the energy base station at the end of the actual track of the period T n of the mobile operation device and the mobile operation device;
a represents an angle between a predicted trajectory of the mobile working device T n+1 and L0, and b represents an angle between an actual trajectory of the mobile working device T n+1 and L0;
v represents the traveling speed of the mobile working device, and T represents the traveling time of the mobile working device.
Optionally, error compensation arrangement includes guide roller, tensioning gyro wheel and elastic component, and guide roller has two and front and back interval, and the tensioning gyro wheel has two and is located between two guide rollers, and the tensioning gyro wheel can reciprocate, and the elastic component is used for supporting the tensioning gyro wheel and initially makes two tensioning gyro wheels keep away from each other, and the cable is pulled out from the reel, then gets into from the upper end of rear guide roller, winds in proper order and locates rear tensioning gyro wheel, place ahead tensioning gyro wheel, then wears out from place ahead guide roller below.
Optionally, the coiling reel for coiling and uncoiling the cable is arranged on an energy base station, and the energy base station is provided with a control center which is used for analyzing and calculating data so as to control the coiling and uncoiling speed of the cable.
The cable coiling control method has the beneficial effects that the coiling speed is controlled through the predicted track of the mobile operation equipment at the initial stage, errors are compensated through the error compensation device, and the coiling and uncoiling speed of the cable is controlled through the predicted track and the error compensation quantity of the previous period in the current period, so that the cable tension is prevented from being too large, the operation range of the mobile operation equipment is reduced, the abrasion between the cable and the ground caused by the accumulation of the cable is prevented, and the service life of the cable is influenced. Meanwhile, error accumulation after the track of the mobile operation equipment is changed is avoided, and further the required length and the coiling speed of the cable are always adapted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art, it being understood that these drawings are not necessarily drawn to scale.
Fig. 1 is a flowchart of a cable take-up control method of the present invention.
Fig. 2 is a schematic diagram of connection of a mobile operation device, a cable and an energy base station in the present invention.
Fig. 3 is an enlarged view at a in fig. 2.
Fig. 4 is a cross-sectional view of fig. 2.
Fig. 5 is an enlarged view at B in fig. 4.
Fig. 6 is a schematic diagram of error calculation in the present invention.
Fig. 7 is an enlarged view at C in fig. 6.
In the figure, 100 parts of mobile operation equipment, 200 parts of energy base station, 300 parts of cable, 400 parts of coiling disk, 500 parts of error compensation device, 510 parts of elastic piece, 520 parts of guide roller, 530 parts of tensioning roller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention provides a cable reeling control method for controlling a reeling and unreeling speed of a cable 300 connected between a mobile working device 100 and an energy base station 200. The power base station 200 is fixedly disposed at a preset position, the cable 300 is connected between the power base station 200 and the mobile operation device 100 to provide power for the mobile operation device 100, the mobile operation device 100 is powered by the cable 300 to perform operation, and fig. 2 to 5 are schematic diagrams of connection of the mobile operation device 100, the cable 300 and the power base station 200.
The energy base station 200 is provided with a control center, the control center is used for analyzing and calculating data, the coiling disc 400 for coiling and uncoiling the cable 300 is arranged on the energy base station 200, the coiling speed of the coiling disc 400 is controlled by the control center, the coiling disc 400 can rotate around the center of the energy base station 200, the mobile operation equipment 100 can conveniently work, and the rotation of the coiling disc 400 around the center of the energy base station 200 is controlled by the control center. A wire arrangement (not shown) is further provided on the energy base station 200 to guide the cable 300 to be wound around the reel 400 in order.
In actual use, a plurality of energy base stations 200 can be set according to the requirement, and each energy base station 200 radiates a preset range to avoid overlong cables 300 and ensure the normal operation of the mobile operation equipment 100. When the mobile operation device 100 is in operation, the cable 300 is laid and wound up along with the operation of the mobile operation device 100, when the mobile operation device 100 is far away from the energy base station 200, the cable 300 is released, and when the mobile operation device is near the energy base station 200, the cable 300 is wound up.
Referring to fig. 1, fig. 1 is a flowchart of a cable take-up control method according to the present invention, which specifically includes the following steps:
Step S1, acquiring an actual track of the mobile working equipment 100T 1 in a period.
Step S2, a predicted track of the mobile working equipment 100T 2 is obtained. It should be noted that the predicted trajectory of the mobile working device 100T 2 period is obtained according to the analysis of the actual trajectory of the mobile working device 100T 1 period.
And S3, adjusting the winding and unwinding speed of the cable 300 in the period T 2 according to the predicted track of the mobile working equipment 100 in the period T 2.
Step S4, acquiring an actual track of the mobile operation equipment 100T n+1, and compensating errors in real time by the error compensation device 500 in the period T n+1, wherein n is more than or equal to 1.
And S5, calculating the error compensation quantity of the period T n+1, and simultaneously acquiring the predicted track of the period T n+2 of the mobile working equipment 100. The predicted trajectory of the mobile working device 100T n+2 period is obtained by analyzing the actual trajectory of the mobile working device 100T n+1 period, and the error of the mobile working device 100T n+1 period compensation is obtained by calculating the deviation between the actual trajectory of the mobile working device 100T n+1 period and the predicted trajectory of the mobile working device 100T n+1 period.
And S6, adjusting the winding and unwinding speed of the cable 300 in the period T n+2 according to the predicted track of the mobile working equipment 100 in the period T n+2 and the error compensation quantity in the period T n+1.
Further, the angle between the mobile working device 100 and the cable 300 is first detected when the actual trajectory of the mobile working device 100 is acquired, and then the actual trajectory of the mobile working device 100 is calculated from the angle between the mobile working device 100 and the cable 300. The predicted trajectory of the mobile working device 100T n+1 period is a trajectory obtained by advancing along the actual trajectory of the mobile working device 100T n period.
Taking the period T 1, the period T 2, the period T 3, and the period T 4 as an example, initially, the mobile working device 100 moves to a position away from the energy base station 200 to reach the first destination, and then a related job may be performed in the vicinity of the first destination. The mobile operation equipment 100 in the period of T 1 changes the angle to operate, the cable 300 is hinged with the mobile operation equipment 100 through a hinge shaft, an angle sensing device is arranged at the hinge position, the angle sensing device senses the angle between the cable 300 and the mobile operation equipment 100 and transmits data to a control center, the control center calculates the actual track of the mobile operation equipment 100T 1 in the period of time according to the angle data, the predicted track of the mobile operation equipment 100T 2 in the period of time is obtained according to the actual track of the mobile operation equipment 100T 1 in the period of time, and the predicted track of the mobile operation equipment 100T 2 in the period of time is a track obtained by advancing along the actual track of the mobile operation equipment 100T 1 in the period of time. The length of the cable 300 to be pulled out can be obtained according to the predicted trajectory of the mobile working device 100T 2 period, and the winding and unwinding speed of the winding drum 400 can be adjusted.
The control center acquires the actual track of the mobile operation equipment 100T 2 period, if the mobile operation equipment 100T 2 period changes the angle operation, namely the track line changes, the predicted track of the mobile operation equipment 100T 2 period deviates from the actual track of the mobile operation equipment 100T 2 period, the control center calculates the deviation amount, and the error compensation device 500 compensates in real time in the T 2 period, so that the cable 300 is prevented from being stressed too much due to insufficient length or from being rubbed with the ground too long. Further, a predicted track of the mobile working device 100T 3 is obtained according to an actual track of the mobile working device 100T 2, and the winding and unwinding speed of the cable 300 is adjusted together according to the predicted track of the mobile working device 100T 3 and an error compensation amount of the mobile working device 100T 2.
Similarly, if the trajectory (trajectory change) of the mobile working machine 100T 3 is changed, the predicted trajectory of the mobile working machine 100T 3 deviates from the actual trajectory of the mobile working machine 100T 3, and the error is compensated for in real time at time T 3. The control center controls the winding and unwinding speed of the reel 400 by moving the predicted trajectory of the working device 100 for the period T 4 and the error compensation amount for the period T 3. The invention controls the winding and unwinding speed of the cable 300 through the prediction data and the error compensation, avoids error accumulation after the track of the mobile operation equipment 100 is changed, and further ensures that the required length and winding speed of the cable 300 are always adapted.
In a further embodiment, fig. 6 and 7 are error calculation schematic diagrams, where L2 is set to represent the length of the cable 300 between the energy base station 200 and the mobile working device 100 at the end of the predicted trajectory of the mobile working device 100T n+1 period, L1 is set to represent the length of the cable 300 between the energy base station 200 and the mobile working device 100 at the end of the actual trajectory of the mobile working device 100T n+1 period, L0 is set to represent the length of the cable 300 between the energy base station 200 and the mobile working device 100 at the end of the actual trajectory of the mobile working device 100T n period;
a represents an angle between the predicted trajectory of the mobile working device 100T n+1 and L0, b represents an angle between the actual trajectory of the mobile working device 100T n+1 and L0, V represents a traveling speed of the mobile working device 100, and T represents a traveling time of the mobile working device 100.
The following calculation formula can be obtained according to the cosine law:
The error compensation amount of the actual trajectory of the mobile working device 100T n+1 period compared to the predicted trajectory is: . That is, the length of the cable 300 that should be actually pulled out differs from the length that should be pulled out in the predicted case by L, and after compensating for L, the cable 300 can reach the length that should be actually pulled out.
In a further embodiment, as shown in fig. 5, the error compensating apparatus 500 includes two guide rollers 520, two tension rollers 530 and an elastic member 510, the guide rollers 520 are spaced apart from each other, the tension rollers 530 are positioned between the two guide rollers 520, the tension rollers 530 can move up and down, the elastic member 510 is used to support the tension rollers 530 and initially separate the two tension rollers 530 from each other, the cable is pulled out of the take-up reel 400 and then enters from the upper end of the rear guide roller 520, sequentially winds around the rear tension roller 530, the front tension roller 530, and then passes out from the lower side of the front guide roller 520. The initial error compensation device 500 can maintain the stress of the cable 300 between the energy base station 200 and the mobile operation device 100 within a preset range, and when the cable 300 is at different positions of the coiling disc 400, namely, coiling radius is different and coiling position is different, the cable 300 compensation device can prevent the angle and stress of the cable 300 from being influenced. Meanwhile, the cable 300 stores a certain margin through the arrangement of the error compensation device 500, when the length of the cable 300 is insufficient, the two tensioning rollers 530 are extruded, so that the two tensioning rollers 530 are close to each other, the cable 300 can be pulled out for use, when the cable 300 is too long, the two tensioning rollers 530 are far away from each other under the action of the elastic piece 510, the redundant cable 300 can be stored to compensate the error in real time, and the compensation amount of the error compensation device 500 can be compensated by the winding and unwinding speed of the cable 300 in the next period.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (4)
1. A cable reeling control method for controlling the reeling and unreeling speed of a cable connected between an energy base station and a mobile operation device is characterized by comprising the following steps:
acquiring an actual track of the mobile operation equipment T 1 in a period;
Acquiring a predicted track of the mobile working equipment T 2 according to the actual track of the mobile working equipment T 1;
Adjusting the cable winding and unwinding speed of the period T 2 according to the predicted track of the period T 2 of the mobile operation equipment;
Acquiring an actual track of the mobile operation equipment in a T n+1 period, and compensating in real time in the T n+1 period by an error compensation device, wherein n is more than or equal to 1;
Calculating an error compensation amount of the period T n+1, and acquiring a predicted track of the period T n+2 of the mobile operation equipment according to an actual track of the period T n+1 of the mobile operation equipment;
According to the predicted track of the mobile operation equipment T n+2 period and the error compensation quantity of the mobile operation equipment T n+1 period, the cable winding and unwinding speed of the mobile operation equipment T n+2 period is regulated together;
The predicted track of the mobile working equipment T n+1 period is a track obtained by advancing along the actual track of the mobile working equipment T n period;
The error compensation amount for the period T n+1 is calculated according to the following formula:
;
;
the error compensation amount L is: ;
Wherein L2 represents the cable length between the energy base station at the end of the predicted track of the period T n+1 of the mobile operation device and the mobile operation device, L1 represents the cable length between the energy base station at the end of the actual track of the period T n+1 of the mobile operation device and the mobile operation device, L0 represents the cable length between the energy base station at the end of the actual track of the period T n of the mobile operation device and the mobile operation device;
a represents an angle between a predicted trajectory of the mobile working device T n+1 and L0, and b represents an angle between an actual trajectory of the mobile working device T n+1 and L0;
V represents the running speed of the mobile operation equipment, and T represents the running time of the mobile operation equipment;
The error compensation device comprises two guide rollers, tensioning rollers and an elastic piece, wherein the guide rollers are arranged at intervals front and back, the tensioning rollers are arranged between the two guide rollers and can move up and down, the elastic piece is used for supporting the tensioning rollers and enabling the two tensioning rollers to be mutually far away, a cable is pulled out from a coiling disc, then enters from the upper end of the rear guide roller, sequentially winds around the rear tensioning roller and the front tensioning roller, and then penetrates out from the lower part of the front guide roller.
2. The method of claim 1, wherein the step of acquiring the actual trajectory of the mobile work device comprises:
detecting an angle between the mobile work equipment and the cable;
The actual trajectory of the mobile work device is calculated from the angle between the mobile work device and the cable.
3. A cable reeling control method according to claim 2, wherein the angle between the cable and the mobile work equipment is detected by an angle sensing device.
4. The method for controlling reeling and unreeling of the cable according to claim 1, wherein the reeling disc for reeling and unreeling the cable is arranged on an energy base station, and the energy base station is provided with a control center which is used for analyzing and calculating data so as to control the reeling and unreeling speed of the cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310922341.3A CN116692616B (en) | 2023-07-26 | 2023-07-26 | Cable coiling control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310922341.3A CN116692616B (en) | 2023-07-26 | 2023-07-26 | Cable coiling control method |
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| CN116692616B true CN116692616B (en) | 2025-05-20 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516317A (en) * | 2019-01-30 | 2019-03-26 | 上海蔚来汽车有限公司 | Cable winding apparatus and drawing cable control method for battery changing trolley |
| CN113277384A (en) * | 2021-06-16 | 2021-08-20 | 广东皓耘科技有限公司 | Cable winding and unwinding speed control method and device and mobile operation equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012004803A1 (en) * | 2012-03-09 | 2013-09-12 | Liebherr-Werk Nenzing Gmbh | Crane control with drive limitation |
| CN115108409B (en) * | 2022-08-03 | 2024-08-30 | 吉林大学 | Automatic tracking system for mining electric shovel cable retractor |
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- 2023-07-26 CN CN202310922341.3A patent/CN116692616B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516317A (en) * | 2019-01-30 | 2019-03-26 | 上海蔚来汽车有限公司 | Cable winding apparatus and drawing cable control method for battery changing trolley |
| CN113277384A (en) * | 2021-06-16 | 2021-08-20 | 广东皓耘科技有限公司 | Cable winding and unwinding speed control method and device and mobile operation equipment |
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Effective date of registration: 20241225 Address after: No. 128 Zhenxing Road, Motou Town, Rugao City, Nantong City, Jiangsu Province, China 226500 Applicant after: Nantong Zhunhang Cable Co.,Ltd. Country or region after: China Address before: No. 8, Fushou East Road, Rucheng Street, Rugao City, Nantong City, Jiangsu Province 226500 Applicant before: Nantong Pengcheng Cable Co.,Ltd. Country or region before: China |
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