CN110968096A - Method and device for synchronously winding and unwinding wire of creeper of cabled pipeline and computer terminal - Google Patents
Method and device for synchronously winding and unwinding wire of creeper of cabled pipeline and computer terminal Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a method and a device for synchronously winding and unwinding a crawler of a cable pipeline and a computer terminal, wherein the method comprises the following steps: when a linkage instruction of linkage of a creeper and a take-up and pay-off vehicle is acquired, the take-up and pay-off vehicle takes up and pay-off cables according to the running speed of the creeper; acquiring the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley; and comparing the running speed with the linear speed, and if the deviation between the running speed and the linear speed is greater than or equal to a preset deviation threshold value, adjusting the motor rotating speed of the take-up and pay-off trolley according to the deviation so as to enable the deviation between the linear speed and the running speed to be smaller than the deviation threshold value. The technical scheme of the invention adjusts the motor rotating speed of the take-up and pay-off vehicle according to the running speed of the crawler and the deviation of the linear speed of the cable on the take-up and pay-off vehicle, so that the actual linear speed of the take-up and pay-off vehicle and the running speed of the crawler are kept synchronous, and the smooth implementation of pipeline detection work is ensured.
Description
Technical Field
The invention relates to the field of pipeline detection, in particular to a method and a device for synchronously winding and unwinding a crawler of a cabled pipeline and a computer terminal.
Background
At present, abnormal conditions occur in most places such as mines, deep wells, municipal pipelines and the like at home and abroad, for example, sewage and rainwater pipelines are blocked and have large cracks, and under the condition of larger pipelines, people are generally sent to check and dredge the pipelines; in the case of a small pipeline, excavation is generally adopted to repair and solve the abnormal situation. Under some special conditions, for example, pipelines, mines and the like may have some flammable and explosive gases, if the safety of operators is difficult to ensure by adopting manual repair, the original structure is easily damaged by adopting an excavation mode for repair.
In view of the above problems, a corresponding endoscopic imaging detection apparatus for a duct has been developed. Since the pipeline inspection needs to consider the complexity of the pipeline structure and environment, the stability of communication signals inside the pipeline, the reliability of the inspection equipment, and the like, the equipment for pipeline inspection must be equipped with a communication cable. Therefore, how to control the synchronization of the detection device and the communication cable is a first problem to be solved urgently in the field of pipeline detection at present. At present, the method adopted in the prior art when controlling the synchronization of the detection device and the communication cable mainly utilizes a pressure sensor or a tension sensor, the pressure sensor or the tension sensor is arranged at one end of the communication cable, and the synchronization of the pressure sensor and the communication cable is controlled by detecting the change value of the tension or the pressure. However, since the detection effect of the former on pressure or tension is greatly affected by the complexity of the pipeline structure and the environment, it is difficult to maintain accurate synchronization between the speeds of the two.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for synchronously reeling and unreeling a cable pipeline crawler, and a computer terminal.
One embodiment of the invention provides a method for synchronously reeling and unreeling a creeper with a cable pipeline, which comprises the following steps:
when a linkage instruction of linkage of a creeper and a take-up and pay-off vehicle is acquired, the take-up and pay-off vehicle takes up and pay-off cables according to the running speed of the creeper;
acquiring the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley;
and comparing the running speed with the linear speed, and if the deviation of the running speed and the linear speed is greater than or equal to a preset deviation threshold value, adjusting the rotating speed of a motor of the take-up and pay-off trolley according to the deviation so as to enable the deviation between the linear speed and the running speed to be smaller than the deviation threshold value.
In the above-described embodiment, acquiring the traveling speed of the crawler includes:
determining corresponding running speed according to the gear of the crawler; or
And determining the running speed according to the wheel diameter and the wheel rotating speed of the crawler.
In the above embodiment, obtaining the linear speed of the cable on the take-up and pay-off trolley comprises:
acquiring the total number of unit pulses generated in unit time when the pay-off and take-up trolley takes off and take-up wires;
and calculating the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse.
In the above embodiment, the cable winding and unwinding length corresponding to the pulse is obtained in advance by the following steps:
collecting and releasing cables with a certain length for multiple times at a corresponding speed through the crawler, recording the total number of pulses corresponding to each collection and releasing, and calculating to obtain the average total number of pulses of the cables with the certain length;
and calculating the cable winding and unwinding length corresponding to the pulse at the corresponding speed according to the certain length and the average pulse total number.
In the above embodiment, when the take-up and pay-off vehicle takes up the wire, comparing the running speed and the linear speed includes:
and comparing the running speed with the linear speed after adding a preset margin value.
In the above embodiment, the "adjusting the motor rotation speed of the take-up and pay-off carriage according to the deviation" includes:
calculating PID control quantity by using the deviation as PID input quantity through a PID algorithm;
and adjusting the rotating speed of a take-up and pay-off motor of the take-up and pay-off vehicle according to the PID control quantity.
Another embodiment of the present invention provides a synchronous pay-off and take-up device for a creeper with cable pipelines, comprising:
the cable take-up and pay-off control module is used for enabling the take-up and pay-off trolley to take up and pay off cables according to the running speed of the crawler when a linkage instruction of linkage of the crawler and the take-up and pay-off trolley is obtained;
the speed acquisition module is used for acquiring the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley;
and the rotating speed adjusting module is used for comparing the running speed with the linear speed, and if the deviation between the running speed and the linear speed is greater than or equal to a preset deviation threshold value, adjusting the rotating speed of the motor of the take-up and pay-off trolley according to the deviation so as to enable the deviation between the linear speed and the running speed to be smaller than the deviation threshold value.
In the above embodiment, the speed acquisition module includes:
the pulse acquisition unit is used for acquiring the total number of unit pulses generated in unit time when the take-up and pay-off vehicle takes up and pay off wires;
and the speed calculating unit is used for calculating the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse.
In the above embodiment, the rotation speed adjustment module includes:
a control quantity calculating unit for calculating PID control quantity by using the deviation as PID input quantity through a PID algorithm;
and the adjusting unit is used for adjusting the rotating speed of a take-up and pay-off motor of the take-up and pay-off vehicle according to the PID control quantity.
Yet another embodiment of the present invention provides a computer terminal, which includes a memory for storing a computer program and a processor for executing the computer program to make the computer terminal execute the above-mentioned cabled pipeline crawler synchronous pay-off and take-up method.
Yet another embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed on a processor, performs the above-mentioned cabled pipeline crawler synchronous pay-off and take-up method.
The technical scheme of the invention adjusts the motor rotating speed of the take-up and pay-off vehicle according to the running speed of the crawler and the deviation of the linear speed of the cable on the take-up and pay-off vehicle, so that the actual linear speed of the take-up and pay-off vehicle and the running speed of the crawler are kept synchronous, and the smooth implementation of pipeline detection work is ensured.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a flow chart of a method for synchronously reeling and unreeling a creeper with a cable pipeline according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating a synchronous take-up and pay-off device of a cable pipeline crawler according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a speed acquisition module of a synchronous take-up and pay-off device of a cabled pipeline crawler according to a second embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating a rotation speed adjusting module of a synchronous take-up and pay-off device of a cabled pipeline crawler according to a second embodiment of the present invention;
fig. 5 shows a schematic diagram of the principle of synchronous take-up and pay-off control of the cabled pipeline crawler of the present invention.
Description of the main element symbols:
200-synchronous take-up and pay-off device of cable pipeline creeper; 210-a retraction control module; 220-a speed acquisition module; 221-a pulse acquisition unit; 222-a speed calculation unit; 230-a rotation speed adjusting module; 231-a control amount calculation unit; 232-a regulating unit; 240-Take up and pay off motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
Fig. 1 is a flow chart illustrating a method for synchronously reeling in a cable pipeline crawler according to a first embodiment of the present invention.
The method for synchronously winding the creeper with the cable pipeline comprises the following steps:
step S101, when a linkage instruction of linkage of a creeper and a take-up and pay-off vehicle is obtained, the take-up and pay-off vehicle takes up and pay-off cables according to the running speed of the creeper.
And the user sends a linkage instruction to the crawler and the take-up and pay-off line vehicle through the main control end, and the take-up and pay-off line vehicle acquires the linkage instruction. Exemplarily, after the wire take-up and pay-off vehicle receives the linkage instruction, if the crawler retreats, the wire take-up and pay-off vehicle takes up wires; and if the crawler advances, the pay-off and take-up trolley pays off the wires. Optionally, the user can also send a non-linkage instruction, and the user can select to separate the crawler from the take-up and pay-off vehicle, control the crawler independently, or control the take-up and pay-off vehicle independently.
And step S102, acquiring the running speed of the crawler and the linear speed of cables on the take-up and pay-off trolley.
The traveling speed of the crawler can be acquired in different ways. For example, the travel speed of the crawler may be determined based on the crawler's current gear. Exemplarily, the gear of the crawler can be 1-9, different gears correspond to different driving speeds, for example, when the crawler and the cable move synchronously, and the gear of the crawler is 1, the crawler retreats at a certain speed of 0.1709m/s, in order to prevent the crawler from retreating and pressing the line, so that the linear speed of the take-up and pay-off trolley is faster than the speed of the crawler, and the initial linear speed of the take-up trolley is set to be equal to the retreating speed of the crawler plus 0.015 m/s. Thus, the take-up and pay-off carriage takes up the wire at an initial linear speed of 0.1859 m/s.
In addition, a tachometer can be mounted on the crawler and used for acquiring the rotating speed n of the crawler wheels1According to the formula:
calculating the driving speed of the crawler, wherein n1Is the revolutions per minute (unit: rpm) of the wheel measured by a tachometer, d is the wheel diameter of the creeper, for example, the wheel diameter can be 0.23m, 0.21m or 0.13m, the circumferential rate pi can be 3.14, and since the revolution measured by the tachometer is the revolutions per minute of the wheel, the revolution measured by the tachometer is divided by 60 to convert the minute unit into the second unit when calculating the running speed of the creeper, so as to obtain the running speed v of the creeper per second1. Similarly, in order to prevent the creeper from retreating and pressing the wire, the wire is taken up when the wire is taken upThe speed of the wire winding machine is faster than that of the creeper, and the initial linear speed of the wire winding machine is set to be equal to the retreating speed of the creeper plus 0.015 m/s.
The linear speed of the cable on the take-up and pay-off trolley can be obtained in different modes. For example, a meter counter and an encoder can be installed on the take-up and pay-off vehicle, the meter counter and the encoder are used in a matched mode, when the take-up and pay-off vehicle takes up and pay off, the encoder generates corresponding pulses, the meter counter can record corresponding pulse numbers, and the linear speed of a cable on the take-up and pay-off vehicle is calculated in real time according to the total number of the pulses generated in one second and the length of the cable corresponding to one pulse.
For further example, the total number of unit pulses generated in one second is recorded as k, the cable winding and unwinding length corresponding to one pulse is recorded as L, and the real-time linear velocity v of the cable is calculatedPractice ofK × L. The unit time may not be limited to seconds, but may be, for example, minutes or other arbitrary units of time.
And step S103, judging whether the speed deviation between the two is smaller than a preset deviation threshold value.
And judging whether the deviation between the running speed of the crawler and the linear speed of the cable on the take-up and pay-off trolley is smaller than a preset deviation threshold value or not.
Calculating the real-time deviation of the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley in real time, and executing the step S104 if the real-time deviation is greater than or equal to a preset deviation threshold value; and if the real-time deviation is smaller than the preset deviation threshold value, the step S102 is repeatedly executed, the running speed of the crawler and the linear speed of the cable on the pay-off and take-up trolley are read in real time, and then the step S103 is executed to compare the speeds of the crawler and the cable in real time. Preferably, the preset deviation threshold may be 0.03 m/s.
In step 104, the rotation speed of the motor of the take-up and pay-off cart is adjusted according to the speed deviation of the two.
The rotating speed of the motor of the pay-off and take-up trolley can be adjusted by utilizing a PID algorithm, wherein the real-time deviation which is greater than or equal to a preset deviation threshold value is used as a PID input quantity, a PID control quantity is calculated through the PID algorithm, and the rotating speed of the pay-off and take-up motor of the pay-off and take-up trolley is adjusted in real time according to the PID control quantity.
By way of further illustration, according to a formula
Calculating the initial rotation speed (unit: rpm) of the take-up and pay-off motor, wherein v0Is the initial linear speed of the take-up and pay-off line of the take-up and pay-off vehicle, d0The initial diameter of the wire wheel of the pay-off and take-up vehicle is the initial diameter of the wire wheel of the pay-off and take-up vehicle, and r is a reduction ratio which is the ratio of the input rotating speed and the output rotating speed (in the invention, the rotating speed of the take-up and take-up motor is the input rotating speed, and the rotating speed of the wire wheel of the pay-off and take-up vehicle is the output rotating speed, and in the embodiment. Because the diameter of the wire wheel of the take-up and pay-off vehicle is constantly changed in the take-up and pay-off process of the take-up and pay-off vehicle, the initial rotating speed n of the take-up and pay-off motor is caused0The linear velocity v of the initial take-up and pay-off line cannot be maintained constant0Therefore, the rotating speed of the take-up and pay-off motor of the take-up and pay-off vehicle needs to be adjusted in real time according to the steps S101 to S104, so as to ensure that the real-time deviation between the running speed of the crawler and the linear speed of the cable on the take-up and pay-off vehicle is smaller than the preset deviation threshold.
For further example, the total number of unit pulses generated in one second is recorded as k, the cable winding and unwinding length corresponding to one pulse is recorded as L, and the real-time linear velocity v of the cable is calculatedPractice ofK x L; real time linear velocity vPractice ofAs feedback information with the target speed v0Comparing to obtain the deviation value e ═ vPractice of-v0And calculating PID control quantity by using the deviation e as PID input quantity through a PID algorithm, wherein the PID control quantity regulates the rotating speed of the take-up and pay-off motor in real time. In order to prevent the creeper from retreating and pressing lines, so that the linear speed of the pay-off and take-up line vehicle is faster than that of the creeper, a target speed v can be set0Adding a preset margin value of 0.015m/s to the running speed of the crawler, and if the actual speed is lower, increasing the rotating speed of a take-up and pay-off motor to accelerate the actual take-up and pay-off speed of the cable; if the actual speed is larger, the actual winding and unwinding speed of the cable is reduced by reducing the rotating speed of the winding and unwinding motor.
The length of the cable corresponding to the pulse needs to be obtained in advance, for example, the crawler collects and releases the cable with a certain length for multiple times at a corresponding speed, the total number of pulses corresponding to each collection is recorded, and the average total number of pulses of the cable with a certain length collected and released is calculated; and calculating the cable winding and unwinding length corresponding to the pulse at the corresponding speed according to the certain length and the average pulse total number.
For further example, the gear of the crawler is 1 gear, the crawler pulls the cable forward at a certain speed of 0.1709m/s, when the cable is pulled out for 10m, the total number of corresponding pulses is recorded, the cable is pulled repeatedly for 10 times, the average number of pulses corresponding to 10m is calculated to be 42236, and the length L corresponding to one pulse is equal to 10000mm divided by 42236 (average number of pulses), so that the length L corresponding to one pulse is 0.2367648 mm.
In the embodiment, the target speed and the linear speed of the cable on the pay-off and take-up trolley are compared to obtain the real-time deviation between the target speed and the linear speed of the cable on the pay-off and take-up trolley, and whether the real-time deviation is greater than the preset deviation threshold value is judged, if yes, the real-time deviation is used as PID input quantity, PID control quantity is calculated through a PID algorithm, and the rotating speed of a pay-off and take-up motor of the pay-off and take-up trolley is adjusted in real time according to the PID control quantity, so that the actual linear.
Example 2
Fig. 2 is a schematic structural diagram illustrating a synchronous reeling and unreeling device of a cable pipeline crawler according to a second embodiment of the present invention.
The synchronous take-up and pay-off device 200 of the cabled pipeline crawler comprises:
the cable retracting and releasing control module 210 is used for retracting and releasing a cable according to the running speed of the crawler when a linkage instruction of linkage of the crawler and a cable retracting and releasing vehicle is obtained; a speed obtaining module 220, configured to obtain a linear speed of a cable on the take-up and pay-off cart; and the rotating speed adjusting module 230 is configured to compare the running speed with the linear speed, and if a deviation between the running speed and the linear speed is greater than or equal to a preset deviation threshold, adjust the rotating speed of the motor of the take-up and pay-off cart according to the deviation to enable the linear speed to approach the running speed, so that the deviation between the running speed and the linear speed is smaller than the preset deviation threshold.
Retraction control module210 sending linkage instructions to the crawler and the take-up and pay-off line vehicle, and the take-up and pay-off line vehicle obtaining the linkage instructions. Exemplarily, after the wire take-up and pay-off vehicle receives the linkage instruction, if the crawler retreats, the wire take-up and pay-off vehicle takes up wires; if the crawler advances, the take-up trolley pays off, and optionally, the cable of the take-up and pay-off trolley can be pulled out through the crawler; the speed obtaining module 220 calculates the linear speed v of the cable on the take-up and pay-off trolley in real time according to the total number k of unit pulses generated in one second and the length L of the cable corresponding to one pulsePractice ofK x L; the speed adjustment module 230 adjusts the speed according to the real-time linear velocity vPractice ofAs feedback information with the target speed v0Comparing to obtain the deviation value e ═ vPractice of-v0And calculating PID control quantity by using the deviation value e as PID input quantity, and then adjusting the rotating speed of the take-up and pay-off motor in real time through the PID control quantity.
Fig. 3 is a schematic structural diagram illustrating a speed acquisition module of a cable pipeline crawler synchronous take-up and pay-off device according to a second embodiment of the present invention.
The speed obtaining module 220 of the synchronous take-up and pay-off device of the cable pipeline crawler comprises:
a pulse acquiring unit 221, configured to acquire a total number of unit pulses generated in a unit time when the take-up and pay-off cart takes up and pay off wires; and a speed calculating unit 222, configured to calculate the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse.
Fig. 4 is a schematic structural diagram illustrating a rotation speed adjusting module of a synchronous take-up and pay-off device of a cabled pipeline crawler according to a second embodiment of the present invention.
The rotation speed adjusting module 230 of the synchronous take-up and pay-off device of the cabled pipeline crawler comprises:
a control amount calculation unit 231 for calculating a PID control amount by a PID algorithm using the deviation as a PID input amount; and the adjusting unit 232 adjusts the rotating speed of a take-up and pay-off motor of the take-up and pay-off vehicle according to the PID control quantity.
Fig. 5 shows a schematic diagram of the principle of synchronous take-up and pay-off control of the cabled pipeline crawler of the present invention.
The schematic diagram includes: a pulse acquisition unit 221, a speed calculation unit 222, a control amount calculation unit 231, an adjustment unit 232, and a take-up and pay-off wire motor 240. The pulse acquiring unit 221 is configured to acquire a total number of unit pulses generated in a unit time when the take-up and pay-off cart takes up and pay off wires; a speed calculating unit 222, configured to calculate the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse; a control amount calculation unit 231 for calculating a PID control amount by a PID algorithm using the deviation as a PID input amount; and the adjusting unit 232 adjusts the rotating speed of a take-up and pay-off motor 240 of the take-up and pay-off vehicle according to the PID control quantity.
Exemplarily, the pulse acquiring unit 221 is configured to generate and acquire pulses, and the speed calculating unit 222 is configured to calculate the linear speed v of the cable on the cable take-up and pay-off trolley in real time according to the total number k of unit pulses generated in one second and the length L of the cable corresponding to one pulsePractice ofK x L; according to real-time linear velocity vPractice ofAs feedback information with the target speed v0Comparing to obtain the deviation value e ═ vPractice of-v0The control quantity calculating unit 231 calculates PID control quantity through a PID algorithm according to the deviation value e as PID input quantity, and the adjusting unit 232 adjusts the rotating speed of the take-up and pay-off motor in real time according to the PID control quantity.
In the embodiment, through the cooperative cooperation of all functional modules, the target speed and the linear speed of a cable on the pay-off and take-up trolley are obtained in real time, the real-time deviation of the target speed and the linear speed of the cable on the pay-off and take-up trolley is used as the PID input quantity, the PID control quantity is calculated through a PID algorithm, and the rotating speed of a pay-off and take-up motor of the pay-off and take-up trolley is adjusted in real time according to the PID control quantity, so that the actual linear speed of the pay.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method for synchronously reeling and unreeling a creeper of a cabled pipeline is characterized by comprising the following steps:
when a linkage instruction of linkage of a creeper and a take-up and pay-off vehicle is acquired, the take-up and pay-off vehicle takes up and pay-off cables according to the running speed of the creeper;
acquiring the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley;
and comparing the running speed with the linear speed, and if the deviation of the running speed and the linear speed is greater than or equal to a preset deviation threshold value, adjusting the rotating speed of a motor of the take-up and pay-off trolley according to the deviation so as to enable the deviation between the linear speed and the running speed to be smaller than the deviation threshold value.
2. The method for synchronously reeling and unreeling the creeper with the cable pipeline as claimed in claim 1, wherein the obtaining of the running speed of the creeper comprises:
determining corresponding running speed according to the gear of the crawler; or
And determining the running speed according to the wheel diameter and the wheel rotating speed of the crawler.
3. The method for synchronously reeling and unreeling the creeper with the cable pipeline as claimed in claim 1, wherein the obtaining of the linear speed of the cable on the reeling and unreeling trolley comprises:
acquiring the total number of unit pulses generated in unit time when the pay-off and take-up trolley takes off and take-up wires;
and calculating the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse.
4. The method for synchronously reeling and unreeling the creeper with the cable pipeline as claimed in claim 3, wherein the cable reeling and unreeling length corresponding to one pulse is obtained in advance through the following steps:
collecting and releasing cables with a certain length for multiple times at a corresponding speed through the crawler, recording the total number of pulses corresponding to each collection and releasing, and calculating to obtain the average total number of pulses of the cables with the certain length;
and calculating the cable winding and unwinding length corresponding to the pulse at the corresponding speed according to the certain length and the average pulse total number.
5. The method for synchronously reeling and unreeling the creeper with the cable pipeline as claimed in claim 1, wherein when the reeling and unreeling vehicle reels in, comparing the running speed with the linear speed comprises:
and comparing the running speed with the linear speed after adding a preset margin value.
6. The method for synchronously reeling and unreeling a cabled pipeline crawler according to any one of claims 1 to 5, wherein the "adjusting the motor rotation speed of the reeling and unreeling vehicle according to the deviation" comprises:
calculating PID control quantity by using the deviation as PID input quantity through a PID algorithm;
and adjusting the rotating speed of a take-up and pay-off motor of the take-up and pay-off vehicle according to the PID control quantity.
7. The utility model provides a have synchronous pay-off and take-up device of cable pipeline crawler which characterized in that, the device includes:
the cable take-up and pay-off control module is used for enabling the take-up and pay-off trolley to take up and pay off cables according to the running speed of the crawler when a linkage instruction of linkage of the crawler and the take-up and pay-off trolley is obtained;
the speed acquisition module is used for acquiring the running speed of the crawler and the linear speed of a cable on the take-up and pay-off trolley;
and the rotating speed adjusting module is used for comparing the running speed with the linear speed, and if the deviation between the running speed and the linear speed is greater than or equal to a preset deviation threshold value, adjusting the rotating speed of the motor of the take-up and pay-off trolley according to the deviation so as to enable the deviation between the linear speed and the running speed to be smaller than the deviation threshold value.
8. The synchronous take-up and pay-off device of the cabled pipeline crawler according to claim 7, wherein the speed acquisition module comprises:
the pulse acquisition unit is used for acquiring the total number of unit pulses generated in unit time when the take-up and pay-off vehicle takes up and pay off wires;
and the speed calculating unit is used for calculating the linear speed according to the total number of the unit pulses and the cable winding and unwinding length corresponding to one pulse.
9. A computer terminal, characterized in that the computer terminal comprises a memory for storing a computer program and a processor for executing the computer program to make the computer terminal execute the cable pipeline crawler synchronous pay-off and take-up method of any one of claims 1 to 6.
10. A computer-readable storage medium storing a computer program which, when run on a processor, performs the cabled pipeline crawler synchronous pay-off and take-up method according to any one of claims 1 to 6.
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| CN201911223279.9A CN110968096A (en) | 2019-12-03 | 2019-12-03 | Method and device for synchronously winding and unwinding wire of creeper of cabled pipeline and computer terminal |
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| CN201911223279.9A CN110968096A (en) | 2019-12-03 | 2019-12-03 | Method and device for synchronously winding and unwinding wire of creeper of cabled pipeline and computer terminal |
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| CN110968096A true CN110968096A (en) | 2020-04-07 |
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| CN114394493A (en) * | 2021-12-13 | 2022-04-26 | 武汉中仪物联技术股份有限公司 | Control method, system, equipment and device for synchronous take-up and pay-off of crawler cable tray |
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| CN117406759A (en) * | 2023-12-14 | 2024-01-16 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
| CN117406759B (en) * | 2023-12-14 | 2024-04-05 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
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