CN113148777B - Mobile two-end wire take-up and pay-off device and control method thereof - Google Patents
Mobile two-end wire take-up and pay-off device and control method thereof Download PDFInfo
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- CN113148777B CN113148777B CN202110464890.1A CN202110464890A CN113148777B CN 113148777 B CN113148777 B CN 113148777B CN 202110464890 A CN202110464890 A CN 202110464890A CN 113148777 B CN113148777 B CN 113148777B
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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
- B65H75/40—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 mobile or transportable
- B65H75/42—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
- B64F1/368—Arrangements or installations for routing, distributing or loading baggage
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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
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
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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
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- 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
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a mobile two-end take-up and pay-off device and a control method thereof, wherein the mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to walk; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and a master control system controls each subsystem, so that the intelligent, efficient, safe and reliable operation can be realized at each airport conveniently and quickly; the winding and unwinding linear speed is controlled, and the influence on the running motion of the device caused by too fast or too slow winding and unwinding of the wire is prevented.
Description
Technical Field
The invention relates to the field of airport winding and unwinding devices, in particular to a mobile two-end winding and unwinding device and a control method thereof.
Background
In an airport, the parking position of a part of airplane positions and the distance from a plane ground static variable power supply are far, and the labor intensity is too large and the operation is inconvenient when a power supply cable is manually dragged to an airplane power receiving port; at present, a mobile two-end cable collecting/discharging device of an airport is simply controlled by hardware, and an airplane end cable is still pulled out manually, so that the labor force of a user is increased; the existing mobile cable collecting/discharging device is controlled by pure hardware, and the control is simpler, so that the cable collecting/discharging device is very crude. Therefore, the phenomenon that the cable is wound/discharged by suddenly accelerating the motor cannot be realized, the cable cannot be wound/discharged linearly, the service life of the cable is seriously influenced by violence winding/discharging, the internal protection function is insufficient, the safety coefficient of equipment is low, and the safety of equipment and personnel is influenced;
the limiting function in the existing movable cable collecting/discharging device adopts photoelectric detection limiting, and is greatly influenced by environmental factors (1) the lens is easily polluted by dust and oil dirt, and once the lens is polluted, not only light beams are scattered, but also a part of light is blocked, so that under the severe environment, feasible protective measures must be taken, the design difficulty is increased, (2) when the ambient light exceeds tens of thousands of luxes, the switch malfunction can be caused, the loss is caused, and the malfunction often occurs; the existing movable cable receiving/discharging device has the problems that the cable receiving and discharging of a long power supply end cable is not matched with the running speed, and the following problems are easily caused: (1) when the take-up speed is higher than the running speed, the long-line control motor moves through the long-line dragging equipment, so that the turnover is easy to cause, and the service life of the cable is reduced due to long-term dragging; (2) when the running speed is higher than the paying-off speed, the equipment is pulled, and both the long wire and a driving motor of the equipment are overloaded. The reason for this is that the system does not detect the running speed and the cable winding/unwinding speed, and cannot perform closed-loop control. Therefore, there is an urgent need for a mobile two-end take-up and pay-off device and a control method thereof, which are intelligent, efficient, safe, reliable and convenient to operate.
Disclosure of Invention
The invention aims to provide a mobile two-end winding and unwinding device and a control method thereof, wherein multi-point data acquisition closed-loop control is added, a master control system controls all subsystems in a centralized manner, and the mobile two-end winding and unwinding device can be intelligently, efficiently, safely, reliably and conveniently operated at all airports; meanwhile, the speed of the wire winding and unwinding is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow wire winding and unwinding is prevented.
The embodiment of the invention is realized by the following steps:
a mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to travel; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding length of the long paying-off assembly and the short paying-off assembly as well as the device running speed, and uploading the detection results to the main control system, so that the main control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the device running speed; multi-point data acquisition closed-loop control is added, and the main controller controls all subsystems in a centralized manner, so that the intelligent, efficient, safe and reliable operation can be realized at all airports conveniently and quickly; meanwhile, the speed of the take-up and pay-off wire is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow take-up and pay-off wire is prevented.
Preferably, the long pay-off assembly comprises a long cable and a long wire coil, one end of the long cable is wound on the long wire coil, and the other end of the long cable is connected with the power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long pay-off assembly, and the first detection unit is arranged on the long pay-off disc and detects the rotating speed and the number of rotating turns of the long pay-off disc.
Preferably, the stub wire assembly comprises a stub cable and a stub wire disc, one end of the stub cable is connected to the stub wire disc in a winding mode, a charging plug used for being connected with a charging port of an airplane is arranged at the other end of the stub cable, the detection module comprises a second detection unit used for detecting the winding and unwinding linear speed of the stub wire assembly, and the second detection unit is arranged on the stub wire disc.
Preferably, the driving control system comprises a driving control unit and a driving motor, the master control system receives a first control signal input from the outside and further outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear speed of the long paying-off assembly and the short paying-off assembly according to the received first control signal.
Preferably, the cable pay-off device further comprises a safety detection module, wherein the safety detection module is used for detecting the extending length of the cable in the long pay-off assembly and the short pay-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop. The device is used for various large airports, has extremely high requirements on safety, and can not generate a collision event with an airplane.
Preferably, the device further comprises an inclination protection module, the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the inclination of the device exceeds a preset angle, an alarm signal is sent out and the device is controlled to stop. If there is an obstacle (wheel block) in front of the wheels, the device will force the obstacle to roll and cause the vehicle to turn obliquely sideways. The rollover of the device mainly occurs when the four wheels are not on the same horizontal plane.
Preferably, the device further comprises a buffer module, and the buffer module is used for controlling the slow start and slow stop of the device.
The control method of the mobile two-end take-up and pay-off device comprises the mobile two-end take-up and pay-off device and comprises the following steps:
s1: receiving a driving starting signal, enabling each node of the mobile phone to acquire data in real time by the master control system, and starting the driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1;
s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time driving speed, wherein the V2 is not less than V1, the paying-off of the long paying-off assembly is stopped until the driving speed of the device reaches 0, and the self-locking function of a driving control system is started at the moment;
s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time;
s4: and a charging plug is inserted into a charging port of the airplane, the master control system receives a charging signal and starts a self-locking function of the motor to control the long paying-off assembly, the short paying-off assembly and the driving control system to stop mechanical movement.
S5: after charging, the charging plug is taken down, and the self-locking of the motor is released; inputting a take-up signal, starting take-up of the short pay-off assembly until the pay-off length is 0, then placing the charging plug on the take-up and pay-off device, slowly increasing the take-up speed V4 of the short pay-off assembly in the whole process, keeping the constant speed for a period of time, and then slowly reducing the take-up speed to 0;
s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return at the speed V5;
s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time driving speed V5, wherein the V6 is not more than V5, and stopping paying-off of the long paying-off assembly until the device drives to a power distribution station, the driving speed of the device is about 0 at the moment; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and realizing the intelligent take-up and pay-off process.
Preferably, in the paying-off process, the safety detection module detects the extending length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop.
Preferably, if the fourth detection unit detects that the device inclines beyond a preset angle, an alarm signal is sent out and the device is controlled to stop.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the invention relates to a mobile two-end take-up and pay-off device and a control method thereof, wherein the mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to walk; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and a master control system controls each subsystem, so that the intelligent, efficient, safe and reliable operation can be realized at each airport conveniently and quickly; the winding and unwinding linear speed is controlled, and the influence on the running motion of the device caused by too fast or too slow winding and unwinding of the wire is prevented.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, 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, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the frame structure of the present invention;
FIG. 2 is a block diagram of the system control of the present invention;
fig. 3 is a signal architecture diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Example 1: referring to fig. 1 to 3, the mobile two-end pay-off and take-up device of the present embodiment includes a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a traveling crane control system, wherein one end of the long pay-off assembly is connected to a power distribution station, and the other end of the long pay-off assembly is connected to the main control system, one end of the short pay-off assembly is connected to a charging port of an airplane, and the other end of the short pay-off assembly is connected to the main control system, and the traveling crane control system is used for controlling the traveling of the device; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding length of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and the main controller controls all subsystems in a centralized manner, so that the intelligent, efficient, safe and reliable operation can be realized at all airports conveniently and quickly; meanwhile, the speed of the take-up and pay-off wire is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow take-up and pay-off wire is prevented.
Example 2: the long pay-off assembly comprises a long cable and a long wire coil, wherein one end of the long cable is wound on the long wire coil, and the other end of the long cable is connected with a power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long wire unwinding assembly, wherein the first detection unit is arranged on the long wire coil and detects the rotating speed and the number of rotating turns of the long wire coil. The stub wire assembly of this embodiment includes stub cable and stub wire reel, and stub cable one end wire-wrapping is on the stub wire reel, the other end is provided with the charging plug that is used for connecting the aircraft mouth that charges, and detection module is including the second detecting element who is used for detecting the stub wire assembly line speed that receive and releases, and the second detecting element sets up on the stub wire reel. The detection module of this embodiment all sets up inside photoelectric detection, and inside photoelectricity is not influenced by environmental factor, reaction cable position that can be accurate, and control system calculates real-time cable through photoelectric detection and emits length. The device of the embodiment is also provided with the display screen, the display screen directly checks the power supply information of the airplane, and the power supply and the airplane do not need to be reciprocated.
Example 3: the driving control system of the embodiment comprises a driving control unit and a driving motor, wherein the main control system receives a first control signal input from the outside and further outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear speed of the long paying-off assembly and the short paying-off assembly according to the received first control signal. The cable extension device further comprises a safety detection module, wherein the safety detection module is used for detecting the extension length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extension length exceeds the maximum safety length, an alarm signal is sent out, and the control device is stopped. The device is used for various large airports, has extremely high requirements on safety, and can not generate a collision event with an airplane. The device further comprises an inclination protection module, the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the inclination of the device exceeds a preset angle, an alarm signal is sent out and the device is controlled to stop. If there is an obstacle (wheel block) in front of the wheels, the device will force the obstacle to roll and cause the vehicle to turn obliquely sideways. The rollover of the device mainly occurs when the four wheels are not on the same horizontal plane. The device further comprises a buffer module, and the buffer module is used for controlling the device to start slowly and stop slowly.
Example 4: the embodiment further provides a control method of the mobile two-end winding and unwinding device, which includes the mobile two-end winding and unwinding device, and includes the following steps: s1: receiving a driving starting signal, enabling each node of a mobile phone to acquire data in real time by a master control system, and starting a driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1; s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time driving speed, wherein the V2 is not less than V1, the paying-off of the long paying-off assembly is stopped until the driving speed of the device reaches 0, and the self-locking function of a driving control system is started at the moment; s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; s4: and a charging plug is inserted into a charging port of the airplane, the master control system receives a charging signal and starts a self-locking function of the motor to control the long paying-off assembly, the short paying-off assembly and the driving control system to stop mechanical movement. S5: after charging, the charging plug is taken down, and the self-locking of the motor is released; a take-up signal is input, the short pay-off assembly starts to take up until the pay-off length is 0, then the charging plug is placed on the pay-off and take-up device, the take-up speed V4 of the short pay-off assembly is slowly increased in the whole process, and is slowly reduced to 0 after being kept at a constant speed for a period of time; s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return at the speed V5; s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time running speed V5, wherein the V6 is not more than V5, and stopping paying-off of the long paying-off assembly until the device runs to a power distribution station when the running speed of the device is close to 0; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and realizing the intelligent take-up and pay-off process.
Example 5: in the paying-off process of the embodiment, the safety detection module detects the extending length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the control device is stopped. If the fourth detection unit of the embodiment detects that the device inclines beyond the preset angle, an alarm signal is sent out and the device is controlled to stop.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The control method of the mobile two-end take-up and pay-off device is characterized in that the mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to travel; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding length of the long paying-off assembly and the short paying-off assembly as well as the device running speed, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the device running speed; the method comprises the following steps:
s1: receiving a driving starting signal, enabling each node of the mobile phone to acquire data in real time by the master control system, and starting the driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1;
s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time running speed, wherein the V2 is not less than V1, the paying-off of the long paying-off assembly is stopped until the running speed of the device is close to 0, and the self-locking function of a running control system is started at the moment;
s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time;
s4: inserting a charging plug into a charging port of the airplane, receiving a charging signal by a master control system, starting a self-locking function of a motor, and controlling a long paying-off assembly, a short paying-off assembly and a driving control system to stop mechanical movement;
s5: after charging is finished, the charging plug is taken down, and self-locking of the motor is released; inputting a take-up signal, starting take-up of the short pay-off assembly until the pay-off length is 0, then placing the charging plug on the take-up and pay-off device, slowly increasing the take-up speed V4 of the short pay-off assembly in the whole process, keeping the constant speed for a period of time, and then slowly reducing the take-up speed to 0;
s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return according to the speed V5;
s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time running speed V5, wherein the V6 is not more than V5, and stopping paying-off of the long paying-off assembly until the device runs to a power distribution station when the running speed of the device is close to 0; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and the intelligent wire winding and unwinding process is realized.
2. The control method of the mobile two-end take-up and pay-off device according to claim 1, wherein in the paying-off process, the safety detection module detects the extending length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop.
3. The method as claimed in claim 1, wherein the fourth detecting unit generates an alarm signal and controls the apparatus to stop if it detects that the apparatus is inclined beyond a predetermined angle.
4. The control method of the mobile two-end take-up and pay-off device according to claim 1, wherein the long pay-off assembly comprises a long cable and a long wire coil, one end of the long cable is wound on the long wire coil, and the other end of the long cable is connected with a power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long pay-off assembly, and the first detection unit is arranged on the long pay-off disc and detects the rotating speed and the number of rotating turns of the long pay-off disc.
5. The control method of the mobile two-end take-up and pay-off device according to claim 1, wherein the stub cable assembly comprises a stub cable and a stub reel, one end of the stub cable is wound on the stub reel, the other end of the stub cable is provided with a charging plug for connecting a charging port of an airplane, the detection module comprises a second detection unit for detecting the take-up and pay-off linear speed of the stub cable assembly, and the second detection unit is arranged on the stub reel.
6. The method for controlling the mobile two-end take-up and pay-off device according to claim 1, wherein the driving control system comprises a driving control unit and a driving motor, the master control system receives a first control signal input from the outside and then outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear winding and unwinding speeds of the long paying-off assembly and the short paying-off assembly according to the received first control signal.
7. The control method of the mobile two-end take-up and pay-off device according to claim 1, further comprising a safety detection module, wherein the safety detection module is used for detecting the extending length of the cable in the long pay-off assembly and the short pay-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop.
8. The method for controlling the mobile two-end winding and unwinding device according to claim 1, further comprising an inclination protection module, wherein the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the device is inclined beyond a preset angle, an alarm signal is sent out and the device is controlled to stop.
9. The control method of the mobile two-end winding and unwinding device according to claim 1, further comprising a buffer module, wherein the buffer module is used for controlling slow start and slow stop of the device.
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| CN202110464890.1A CN113148777B (en) | 2021-04-28 | 2021-04-28 | Mobile two-end wire take-up and pay-off device and control method thereof |
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| CN202110464890.1A CN113148777B (en) | 2021-04-28 | 2021-04-28 | Mobile two-end wire take-up and pay-off device and control method thereof |
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