JP6630486B2 - Cable system - Google Patents

Description

  The present invention relates to a cable system provided with a cable connecting a base device and a moving body, and a reel device.

  It is well known that an unmanned mobile object is remotely controlled by a remote controller (base device). For example, a video camera is mounted on the moving body, and a video signal from the video camera is sent to the remote controller, and the operator operates the remote controller while watching a monitor display attached to the remote controller. An operation signal from the remote controller is sent to the moving body, and the moving body is remotely operated.

  In order to transmit the video signal and the operation signal, the remote controller and the moving object are connected by a long cable. A reel device around which the cable is wound is disposed on the moving body side or the base device side.

As disclosed in Patent Literatures 1 and 2, the reel device includes a reel around which a cable is wound, a rotation sensor that detects a rotation direction of the reel, a reel motor that drives the reel to rotate, and a motor controller. When the moving body moves away from the base device, tension is generated in the cable, and the reel rotates in the direction in which the cable is fed. Motor controller, upon detecting a rotation of the cable pay-out City direction on the basis of a signal from the rotation sensor, the reel motor to the motor free, pay out the cable. When the moving body moves in a direction approaching the base device, the tension of the cable is lost and the reel stops. When detecting the stop of the reel based on a signal from the rotation sensor, the motor controller drives the reel motor to rotate the reel in the winding direction.

Patent Literature 3 discloses a roller mechanism arranged near a reel device. The roller mechanism guides the cable and has a function of detecting the tension of the cable. The reel motor to the motor free when Shi cable feeding point for driving the reel motor at the time of winding is the same as Patent Documents 1 and 2. The reel motor is controlled based on the tension of the cable detected by the roller mechanism to prevent the cable from becoming loose.

The reel unit disclosed in Patent Document 4, the reel is also rotated in becoming without feeding city direction winding direction only by the reel motor drive. When Shi cable feeding the feeding city cables at a rate faster than the moving speed of the water ROV (mobile), which reduces the resistance of the cable to a mobile.

Further, Patent Document 4 discloses a water supply mechanism arranged near a reel device. This water supply device has a pipe through which a cable passes and a pump through which water flows in the pipe. When the cable pay-out City sends the cable with a force of water flowing through the tube, thereby trying to avoid cable slack and turbulent winding occurs in the vicinity of the reel.

JP 2008-254927 A JP 2014-64456 A JP-A-6-72640 JP 2014-519438 A

In Patent Literatures 1, 2, and 3, the cable is unreeled from the reel by the tension of the cable, so that the tension of the cable becomes a movement resistance of the moving body. This problem becomes remarkable especially when the moving body is small and the propulsion is weak. In Patent Document 3, no motor is provided in the roller mechanism, and there is no function of sending out the cable to the roller mechanism.
In Patent Literature 4, although the resistance caused by the tension of the cable can be reduced, it can be applied only to a cable system in which a reel device is mounted on an underwater vehicle in order to avoid slack of the cable by a water supply mechanism.

The present invention has been made to solve the above problems, and in a cable system,
A. A cable that connects the base unit and the mobile unit, or connects the relay unit and the mobile unit that can transmit signals between the base unit and the mobile unit, and performs at least signal transmission,
I. A reel on which the cable is wound and which is disposed on one of the moving body side and the base device side, or one of the relay device side and the moving body side, and rotates the reel in a cable feeding direction and a cable winding direction. A reel device having a reel motor for causing
C. Disposed in the vicinity of the reel apparatus, a driving roller for sending the cable, a roller mechanism having a roller motor for rotating the drive roller at least in the cable pay-out City direction,
D. A motor controller for controlling the reel motor and the roller motor,
With
The motor controller, the cable feeding Sutame from said reel, driving the reel motor and the roller motor, the reel and the drive roller, characterized in that rotating the cable pay-out City direction simultaneously.
According to this configuration, by rotating the reel feeding city direction by driving the reel motor during cable unwinding city, it is possible to move the moving body without the resistance of the cable tension. Moreover, by driving the roller of the roller mechanism also rotates in the cable unwinding City directions simultaneously, it is possible to suppress the looseness of the cable between the reel device and the roller mechanism. Moreover, the type of the moving body to be applied and the arrangement position of the reel device need not be limited.

Preferably, the reel device includes a reel rotation sensor that outputs a signal related to rotation of the reel, the roller mechanism includes a roller rotation sensor that outputs a signal related to rotation of the driving roller, and the motor controller includes: when shi cable feeding, based on the reel rotation sensor and the signal of the roller rotation sensor, as the cable feeding speed of the cable feeding city speed and the drive roller in the reel are equal, the reel motor and the roller motor Control.
According to this configuration, it is possible to slack cable when Shi cable feeding more reliably.

Preferably, the motor controller, when Shi the cable pay-out, when the supply current to the roller motor is less than the first threshold value, temporarily increases the rotational speed of the roller, thereby the reel device Increase the tension of the cable between the cable mechanism and the roller mechanism.
According to this configuration, when the cable feeding city, can be solved in real temporary slack in the cable produced between the reel device and the roller mechanism.

Preferably, the motor controller, when Shi the cable pay-out, when the current supplied to the roller motor exceeds the larger second threshold value than the first threshold value, temporarily rotation of the roller Speed is reduced, thereby reducing the tension on the cable between the reel device and the roller mechanism.
According to this configuration, the temporary excessive tension of the cable generated between the reel device and the roller mechanism during the cable feeding can be immediately eliminated.

Preferably, the motor controller drives the reel motor and the roller motor to wind the cable on the reel, and simultaneously rotates the reel and the drive roller in the cable winding direction, and The reel motor and the roller motor are controlled based on the signals from the rotation sensor and the roller rotation sensor so that the cable winding speed at the reel is equal to the cable feed speed at the drive roller.
According to this configuration, the cable can be smoothly wound.

Preferably, when the current supplied to the reel motor is smaller than a third threshold value at the time of winding the cable, the motor controller temporarily reduces the rotation speed of the drive roller, whereby the reel device Increase the tension of the cable between the cable mechanism and the roller mechanism.
According to this configuration, the temporary slack of the cable generated between the reel device and the roller mechanism during the winding of the cable can be immediately eliminated.

Preferably, when the current supplied to the reel motor exceeds a fourth threshold value larger than the third threshold value at the time of winding the cable, the motor controller temporarily controls the driving roller. Increasing the rotational speed, thereby reducing the tension on the cable between the reel device and the roller mechanism.
According to this configuration, the temporary excessive tension of the cable generated between the reel device and the roller mechanism at the time of winding the cable can be immediately eliminated.

Preferably, the motor controller includes a rotation speed of the reel, based on the outermost portion diameter or circumference of the information of the cable wound on the reel, the cable pay-out City speed and the cable winding in the reel Calculate the speed.
According to this configuration, it is possible to accurately calculating the cable feeding shi speed and the cable take-up speed.

Preferably, the reel rotation sensor includes a rotary encoder that outputs a pulse signal every predetermined rotation of the reel, and the motor controller determines a rotation direction of the reel based on a pulse signal from the rotary encoder. The integrated encoder value is calculated, and this integrated encoder value is added to the number of the pulse signals when the reel is rotating in the winding direction, and is calculated when the reel is rotating in the feeding direction . The motor controller calculates the cable feeding speed and the cable winding speed based on the accumulated encoder value and the pulse signal output from the rotary encoder per unit time.
According to this configuration, it is possible to accurately calculating the cable feeding shi speed and the cable take-up speed.

  The motor controller may make the roller motor motor-free at the time of winding the cable.

The motor controller may be capable of executing an automatic control mode. In this case, in the automatic control mode, it determines the direction of rotation of the drive roller based on signals from the roller rotation sensor, when the drive roller is determined to be rotating in the cable unwinding direction, feeding city of the cable Is performed, and when it is determined that the driving roller is stopped or rotating in the cable winding direction, the winding of the cable is executed.

Preferably, the motor controller, in the automatic control mode, when the cable feeding city amount since the start of the cable feeding city has reached a predetermined amount, and stops the driving of the reel motor and the roller motor is again The rotation direction of the drive roller is determined based on a signal from the roller rotation sensor.
According to this configuration, it is possible to curb the cable feeding city in the automatic control mode.

The base device can select motor-free in the automatic control mode. In this case, when the motor controller determines that the drive roller is rotating in the cable feeding direction in the automatic control mode, the motor controller sets the reel motor and the roller motor to motor-free according to the motor-free selection. I do.

Preferably, the base unit, in addition to the automatic control mode can be selected and feeding city mode, the winding mode. In this case, the motor controller, upon receiving the above-mentioned automatic control mode selection signal from the base unit performs the automatic control mode, when receiving a selection signal of the payout city mode, feeding city of the cable Only when the winding mode selection signal is received, only the winding of the cable is executed.

  ADVANTAGE OF THE INVENTION In the cable system of this invention, while being able to reduce the moving resistance of the moving body resulting from the tension | tensile_strength of a cable, slack of a cable can be suppressed.

It is a schematic diagram showing the whole cable system composition concerning a 1st embodiment of the present invention. FIG. 2 is a plan view showing a reel device and a roller mechanism of the cable system. It is a side view of the above-mentioned reel device and a roller mechanism. FIG. 3 is an enlarged side view illustrating a detailed structure of the roller mechanism. FIG. 3 is a schematic diagram of a circuit for controlling the drive of a reel motor of the reel device and a roller motor of the roller mechanism. 4 is a flowchart showing a part of a routine for controlling the reel motor and the roller motor. It is a flowchart of the automatic control mode performed by the same routine. It is a flowchart of the feeding City mode and the take-up mode to be executed in this routine. It is a schematic diagram showing the whole cable system composition concerning a 2nd embodiment of the present invention. It is a schematic diagram showing the whole cable system composition concerning a 3rd embodiment of the present invention.

  Hereinafter, an exploration system including a cable system according to a first embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the exploration system includes a remote controller 1 (base device), a moving body 2 composed of an unmanned small boat, and a long cable 3 connecting the remote controller 1 and the moving body 2. The cable 3 has a built-in optical fiber for transmitting signals.

  The remote controller 1 has a monitor display 1a and an operation unit 1b. The operation unit 1b includes three mode selection buttons 1x, 1y, and 1z described later, a control stick 1s, and a keyboard as needed.

The moving body 2 includes a screw and a rudder for traveling on water, a motor and a battery (not shown) for driving the screw and the rudder.
The moving body 2 is equipped with a video camera 2a (a search device). In addition to the video camera 2a or in place of the video camera, the search device may include a sensor such as an infrared sensor, a chemical substance detection sensor, a temperature sensor, and a radiation sensor.

  The operator operates the control stick 1s or the like of the remote controller 1 while watching the image of the moving body 2 from the video camera 2a on the monitor display 1a, and performs a remote operation such as forward movement or turning of the moving body 2.

As shown in FIGS. 2 and 3, the cable system A includes the above-described cable 3, a reel device 4 for winding and unwinding the cable 3, and a roller mechanism 5 disposed near the reel device 4. ing.
The reel device 4 is mounted, for example, at the rear of the body 2x of the moving body 2. In the present embodiment, it is accommodated in a concave portion 2y formed on the upper surface of the body 2x.

  The reel device 4 includes a pair of supports 11 fixed to the recesses 2y of the body 2x via a frame (not shown), a reel 12 rotatably supported by the supports 11, and an alignment mechanism 13. ing. The axis of rotation of the reel 12 extends horizontally perpendicular to the forward and backward directions of the moving body 2.

  The alignment mechanism 13 is supported by the pair of supports 11 in the vicinity of the reel 12, and moves the cable 3 in the axial direction of the reel 12 in conjunction with the rotation of the reel 12. When it reaches, the moving direction of the cable 3 is reversed, and this is repeated, so that the cable 3 is wound around the trunk 12a of the reel 12 almost uniformly in the axial direction. Since the configuration of the alignment mechanism 13 is well known, a detailed description thereof will be omitted.

  One end of the cable 3 is connected to a converter built in the remote controller 1. This converter converts a signal from the cable 3 to the remote controller 1 from an optical signal to an electric signal, and converts a signal from the remote controller 1 to the cable 3 from an electric signal to an optical signal.

  The cable 3 is wound around the body 12a of the reel 12 through the alignment mechanism 13 of the reel device 4 as described above, and the other end of the cable 3 is a rotary joint (not shown) provided on the reel 12. ), And further connected to a plurality of electric signal lines via a converter and a hub.

  The plurality of electric signal lines are provided for transmission of a control signal to a motor driver of a screw motor of the moving body 2, transmission of a video signal (search signal) from the video camera 2a, and the like. The converter of the reel device 4 also performs conversion between an optical signal and an electric signal.

As shown in FIG. 5, the reel device 4 further includes a reel motor 15 and a rotary encoder 16 (reel rotation sensor). The reel motor 15 is connected to the reel 12 via a gear train.
The rotary encoder 16 outputs a pulse signal every time the reel 12 rotates by a predetermined angle when the reel motor 15 (and thus the reel 12) rotates. As is well known, this pulse signal is composed of two pulses having different phases, and the rotation direction of the reel 12 can be distinguished by the phase difference between the two signals.

As shown in FIGS. 2 to 4, the roller mechanism 5 is provided behind the reel device 4 on the body 2 x of the moving body 2.
The roller mechanism 5 has a first guide section 20, a feed section 30, and a second guide section 40 arranged in order toward the reel device 4.

As best shown in FIG. 4, the first guide portion 20 has upper and lower rollers 21 and 22 having a rotation axis parallel to the rotation axis of the reel 12, and a vertical rotation axis disposed in front of the rollers. It has left and right rollers 23 and 24. The rollers 21 and 22 are rotatably supported by a pair of brackets 5b fixed to a common base plate 5a of the roller mechanism 5. The rollers 23 and 24 are rotatably supported by columns 5c fixed to the common base plate 5a.
The cable 3 is positioned in the vertical direction by passing between the rollers 21 and 22, and is positioned in the left and right direction by passing between the rollers 23 and 24.

  As shown in FIG. 2, the first guide portion 20 further has guide members 25 and 26 disposed on the left and right of the rollers 21 and 22, respectively. These guide members 25 and 26 limit the angle at which the cable 3 is led out from the rollers 21 and 22 to a predetermined angle range.

  As best shown in FIG. 4, the feed section 30 has a grooved driving roller 31 and two grooved pressing rollers 32 and 33 disposed above the driving roller 31. The rotation axes of the rollers 31 to 33 are parallel to the rotation axis of the reel 12. The cable 3 passes through the groove of the driving roller 31 and the grooves of the pressing rollers 32 and 33.

The drive roller 31 is rotatably supported by a bracket 5d fixed to the common base plate 5a. The pressing rollers 32 and 33 are rotatably supported by an intermediate portion and a distal end portion of a lever 38 having a substantially L shape.
The base end of the lever 38 is rotatably supported by the bracket 5d. A coil spring 39 is hung between the tip of the lever 38 and the bracket 5d, and the lever 38 is urged counterclockwise in FIG. 4 by the force of the coil spring 39. The pressing rollers 32 and 33 supported by 38 are urged downward, and press the cable 3 against the driving roller 31.

The second guide section 40 includes left and right grooved rollers 41 and 42 having a vertical rotation axis and a roller 43 having a rotation axis parallel to the rotation axis of the reel 12. The rollers 41 and 42 are rotatably supported by columns 5e fixed to the base 5a. The roller 43 is rotatably supported by a bracket 5f fixed to the base 5a.
The cable 3 passes between the rollers 41 and 42 of the second guide portion 40 and is guided by the roller 43 to the pulley 12 in a different direction.

As shown in FIG. 5, the roller mechanism 5 further includes a roller motor 35 and a rotary encoder 36 (roller rotation sensor). The roller motor 35 is connected to the drive roller 31 via a gear train.
The rotary encoder 36 outputs a pulse signal each time the drive roller 31 rotates by a predetermined angle when the roller motor 35 (and, consequently, the drive roller 31) rotates, and has the same configuration as the rotary encoder 16 for the reel 12. Has made.

  As shown in FIG. 5, the cable system A has a motor driver 51 for the reel motor 15, a motor driver 52 for the roller motor 35, and a motor controller 50. The motor driver 51 includes a drive circuit that supplies a current to the reel motor 15 and a current detection circuit 51a that detects a supply current flowing through a coil of the reel motor 15. Similarly, the motor driver 52 includes a drive circuit that supplies a current to the roller motor 35, and also includes a current detection circuit 52a that detects a supply current flowing through a coil of the motor 35.

The motor controller 50 controls the motors 15 and 35 by sending control signals to the motor drivers 51 and 52 based on signals from the remote controller 1 and signals from the rotary encoders 16 and 36 and the current detection circuits 51a and 52a. I do.
The description of the motor controller that controls the screw motor and the like of the moving body 2 will be omitted.

In the cable system A having the above configuration, the motor controller 50 controls the motors 15 and 35 as shown in FIGS. 6A to 6C. Prior to the description of this control, the mode setting by the remote controller 1 will be described. The mode selection buttons 1x, 1y, 1z of the remote controller 1 are used to select "automatic control mode", "delivery mode", and "winding mode", respectively. The motor controller 50 controls the motors 15, 35 based on the mode selection signal.
In the present embodiment, when none of the three mode selection buttons 1x, 1y, and 1z is turned on by the remote controller 1, it means that the motor is selected.
Further, in the remote controller 1, when the "automatic control mode" is selected, it is also possible to select whether or not to "motor free" at the time of feeding.

  In step S1 shown in FIG. 6A, the rotation direction and the rotation speed R of the reel 12 are calculated based on the pulse signal from the rotary encoder 16, and the rotation direction of the drive roller 31 is calculated based on the pulse signal from the rotary encoder 36. Calculate the rotation speed. The rotation direction can be detected from the phase difference between the pulse signals from the rotary encoders 16 and 36 as described above. The rotation speed can be calculated based on the number of pulse signals from the rotary encoders 16 and 36 per unit time.

  In step S2, the integrated encoder value N of the rotary encoder 16 is calculated. The integrated encoder value N is calculated with the state where the cable 3 is not wound around the body 12a of the reel 12 being zero. When the reel 12 is rotating in the winding direction, the number of pulses of the rotary encoder 16 is added, and when the reel 12 is rotating in the unwinding direction, the number of pulses of the rotary encoder 16 is subtracted. The value N is obtained. The integrated encoder value N includes information on the winding status of the cable 3 on the reel 12.

In the next step S3, the reel diameter D is calculated from the integrated encoder value N. The reel diameter D refers to the diameter of the outermost portion of the cable 3 wound around the reel 12. The reel diameter D is substantially proportional to the integrated encoder value N, and is calculated by the following equation.
D = D0 + kN (1)
Here, D0 is the diameter of the body 12a of the reel 12 when the cable 3 is not wound, and k is a constant. The constant k is determined by the diameter of the cable 3, the number of turns of the cable 3 arranged in a line by the alignment mechanism 13, and the like.
Note that the reel diameter D may be obtained based on actual measurement data indicating the relationship between the integrated encoder value N and the reel diameter D stored in a memory in advance.

Next, it is determined whether or not the automatic control mode is set in step S4 shown in FIG. 6B. In this If a negative decision in step S4, it is determined whether feeding city mode in step S5 in FIG. 6C is set. If a negative determination is made in step S5, it is determined in step S6 whether the winding mode is set.

If a negative decision is made in step S6, i.e., the automatic control mode, feeding city mode, if none of the take-up mode is not set, after executing the step S7, the flow returns to step S1. In this step S7, the drive roller 31 and the reel 12 are made motor-free. That is, the drive circuits of the motor drivers 51 and 52 of the reel motor 15 and the roller motor 35 are opened. As a result, the cable 3 is fed without receiving the resistance (motor brake) of the motors 15 and 35.

If an affirmative determination is made in step S4 of FIG. 6B, the automatic control mode is executed. First, it is determined whether or not executing the cable feeding city in step S8. The meaning of step S8 will be described later. If a negative determination is made here, the process proceeds to step S9, and it is determined whether or not the drive roller 31 is rotating in a direction to pull out the cable 3.

  If an affirmative determination is made in step S9, the process proceeds to step S10, in which it is determined whether "motor free" is designated. If the determination is affirmative, the reel motor 15 and the roller motor 35 are made motor-free in step S11, and the process returns to step S1.

If a negative determination is made in step S10, that is, if it is determined that “motor-free” is not specified, the process proceeds to step S12, in which the reel motor 15 and the roller motor 35 are driven, and the peripheral speed of the reel 12 (that is, feeding shi speed) and the circumferential speed of the driving roller 31 (i.e., as the cable feed speed) is equal to each other becomes a predetermined circumferential speed, to rotate the drive roller 31 and these reel 12 in the unwinding direction. Here, the peripheral speed of the reel 12 means the peripheral speed of the outermost portion of the cable 3 wound on the reel 12. The peripheral speed of the reel 12 is calculated based on the reel diameter D and the pulse signal from the rotary encoder 16, and the reel motor 15 is controlled so that the calculated peripheral speed becomes the predetermined peripheral speed. Further, the peripheral speed of the drive roller 31 is calculated based on the diameter of the drive roller 31 and a pulse signal from the rotary encoder 36, and the roller motor 35 is controlled so that the peripheral speed becomes the predetermined peripheral speed.

Next, the process proceeds to step S13, and it is determined whether or not the supply current to the roller motor 35 detected by the current detection circuit 52a of the motor driver 52 exceeds a threshold value a (second threshold value).
When the tension of the cable 3 between the drive roller 31 and the reel 12 is excessive, the load on the drive roller 31 is excessive, and the supply current to the roller motor 35 increases. At this time, an affirmative determination is made in step S13, and the process returns to step 1 after executing step S14. In step S14, the rotation speed (peripheral speed) of the drive roller 31 is reduced. Thereby, the tension of the cable 3 between the drive roller 31 and the reel 12 is reduced.

  If a negative determination is made in step S13, the process proceeds to step 15, where it is determined whether the current supplied to the roller motor 35 is smaller than a threshold value b (first threshold value). However, the threshold value b is smaller than the threshold value a. When the cable 3 between the drive roller 31 and the reel 12 is loose, the load on the drive roller 31 is extremely small, and the supply current to the roller motor 35 decreases. At this time, an affirmative determination is made in step S15, and the process returns to step 1 after executing step S16. In step S16, the rotation speed (peripheral speed) of the drive roller 31 is increased. Thereby, slack of the cable 3 between the drive roller 31 and the reel 12 is eliminated.

  If a negative determination is made in step 15, that is, if it is determined that the cable 3 between the drive roller 31 and the reel 12 is not loose and that an appropriate tension is maintained, the rotation speed of the drive roller 31 is reduced. Return to step 1 without adjustment.

In the step cable unwinding City, reel 12 is maintained at the predetermined peripheral speed. The peripheral speed of the drive roller 31 is basically maintained the same as the peripheral speed of the reel 12. However, when the cable 3 is temporarily loosened or excessive tension occurs, the peripheral speed of the drive roller 31 should be adjusted. As a result, these slacks and excessive tension are immediately eliminated, and the tension of the cable 3 between the drive roller 31 and the reel 12 is maintained at an appropriate level.

In the automatic control mode, the amount of one-time feeding of the cable 3 is limited to a specified amount, for example, 1 m. The details will be described below. When feeding city cable 3 is started as described above, thereafter the affirmative determination at step S8, the process proceeds to step S17. In step S17, it is determined whether feeding city of the cable 3 has reached a predetermined amount. Proceeds to step S13 if a negative decision is made in this case, feeding city control is continued. Incidentally, the feed-out City of cable 3 is determined by the product of the elapsed time from the feeding city beginning with the peripheral speed of the reel 3 (feeding city speed).

When an affirmative decision is made in step 17, that is, when the specified amount of cable pay-out City was judged to be complete, the process proceeds to step S18, where to stop the reel motor 15 and the roller motor 35. Then, in step S9, the newly determines whether the drive roller 31 by the tension of the cable 3 is rotating in the feeding city direction.

  When a negative determination is made in step S9 (that is, when it is determined that the drive roller 31 is rotating in the winding direction or has stopped), the winding control of the cable 3 is executed. First, the process proceeds to step S20, and it is determined whether the winding control is being executed. First, a negative determination is made in step S20, and the process proceeds to step 21, in which the reel motor 15 and the roller motor 35 are driven to drive the peripheral speed of the reel 12 (ie, the cable winding speed) and the peripheral speed of the drive roller 31 (ie, the cable feed speed). The reel 12 and the drive roller 31 are rotated in the winding direction so that the peripheral speed becomes equal to the predetermined peripheral speed.

Next, in step S22, it is determined whether the current supplied to the reel motor 15 detected by the current detection circuit 51a of the motor driver 51 exceeds a threshold value c (fourth threshold value).
When the tension of the cable 3 between the drive roller 31 and the reel 12 is excessive, the load on the reel 12 becomes excessive, and the current supplied to the reel motor 15 increases. At this time, an affirmative determination is made in step S22, and the process returns to step 1 after executing step S23. In step S23, the rotation speed (peripheral speed) of the drive roller 31 is increased. Thereby, the tension of the cable 3 between the drive roller 31 and the reel 12 is reduced.

  If a negative determination is made in step S22, the process proceeds to step 24, where it is determined whether the current supplied to the reel motor 35 is smaller than a threshold value d (third threshold value). However, the threshold value d is smaller than the threshold value c. When the cable 3 between the drive roller 31 and the reel 12 is loose, the load on the reel 12 is extremely small, and the current supplied to the reel motor 35 decreases. At this time, an affirmative determination is made in step S24, and the process returns to step 1 after executing step S25. In step S25, the rotational speed (peripheral speed) of the drive roller 31 is reduced. Thereby, slack of the cable 3 between the drive roller 31 and the reel 12 is eliminated.

If a negative determination is made in step 24, that is, if it is determined that the cable 3 between the drive roller 31 and the reel 12 is not loose and has an appropriate tension, the rotation speed of the drive roller 31 ( The process returns to step 1 without adjusting the peripheral speed.
After the start of the winding control, an affirmative determination is made in step S20, and the process skips step S21 and proceeds to step S22. The winding control is continued until a positive determination is made in step S9.

In the cable winding step, the reel 12 is maintained at the predetermined peripheral speed. The peripheral speed of the drive roller 31 is basically kept the same as the peripheral speed of the reel 12, but when the cable 3 is temporarily loosened or excessive tension occurs, the peripheral speed of the drive roller 31 is adjusted. As a result, these slacks and excessive tension are immediately eliminated, and the tension of the cable 3 between the drive roller 31 and the reel 12 is appropriately maintained.

If it is determined that the feeding city mode in step S5 is set, it executes the feeding city mode. First, it is determined whether running feeding city control in step S8 '. First, a negative determination is made and step 12 'is executed. After the feeding control is started, a negative determination is made in step S8 ', and thus the process skips step S12' and proceeds to steps S13 'to 16'.
The feeding control in steps S12 'to S16' is the same as that in steps S12 to S16 in the automatic control mode, and a description thereof will be omitted.
When the feeding city mode is selected, as long as the selection is not released, it continues to perform the feed-out City control.

If it is determined in step 6 that the mode is the winding mode, the winding control in steps S20 'to S25' is executed. The winding control in steps S20 'to S25' is the same as that in steps S20 to S25 in the automatic control mode, and a description thereof will be omitted.
When the winding mode is selected, the above winding control is continuously executed unless the selection is released.

Next, a second embodiment of the present invention will be described with reference to FIG. In this embodiment, the moving object 2 'is composed of an unmanned small helicopter. The reel device 4, the roller mechanism 5, and the motor controller 50 are not mounted on the moving body 2 ', but are arranged on the remote controller 1 side. The motor controller 50 is connected to the motor controller 50 without using the cable 3 between the moving body 2 ′ and the reel device 4.
In the second embodiment, the battery may not be mounted on the moving body 2 'but may be arranged on the remote control 1 side. In this case, the cable 3 includes an optical fiber for performing signal transmission and a power supply line.

  In the third embodiment shown in FIG. 8, as in the second embodiment, an unmanned small helicopter is used as the moving body 2 '. The moving body 2 'is mounted on a crawler robot 8 (a movable relay device), and can take off from the crawler robot 8 near a destination. The crawler robot 8 and the moving body 2 ′ are connected by the cable 3, and the crawler robot 8 has a reel device 4 according to the present invention. A roller mechanism 5 and a motor controller (not shown) are mounted.

  Another cable system is arranged between the crawler robot 8 and the remote controller 1. This cable system is provided with a cable 3 'for connecting the two, a reel device 4' mounted on the crawler robot 8, and a roll mechanism 5 '. The cables 3 and 3 ′ are connected by a relay cable 9.

In the above configuration, the crawler robot 8 is remotely operated by the remote controller 1, and the moving body 2 'is remotely operated. The operations of the reel device 4 and the roller mechanism 5 are the same as those of the preceding embodiment. The operations of the reel device 4 'and the roller mechanism 5' are the same as those of the preceding embodiment.
The reel device 4 'may have the same configuration as that of the prior art document without providing the roller mechanism 5'. Further, wireless communication may be performed between the remote controller 1 and the crawler robot 8 without using a cable system.

  The present invention is not limited to the above-described embodiment, and various modifications can be adopted without departing from the gist thereof. For example, the moving object may move underwater or may move on land.

In the above embodiment, it is omitted automatic control mode, may be executed a feeding City mode and the take-up mode. Further, it may be executed only automatic control mode, may be executed either one auto control mode of feeding City mode and the take-up mode.

  In the cable winding control, only the reel motor 15 may be driven and the roller motor 35 may be motor-free.

The reel diameter calculated in step S3 may be calculated based on a signal from a contact-type sensor in contact with the outer periphery of the cable 3 wound on the reel 12, instead of the integrated encoder value.
The peripheral length of the outermost cable wound on the reel may be calculated from the accumulated encoder value, and the peripheral speed of the reel may be calculated based on this peripheral length and the rotation speed of the reel 12.

Especially when applied to a movable body that moves the land, in the automatic control mode, when the drive roller 31 is rotated at a rotational speed of more than the threshold speed feeding city direction by the tension of the cable 1,
The reel motor 15 and the roller motor 35 may function as a motor brake.

  INDUSTRIAL APPLICABILITY The present invention can be applied to a cable system used for controlling a moving body such as an exploration robot.

1 remote controller (base equipment)
2, 2 'moving body 3 cable 4 reel device 5 roller mechanism 9 crawler robot (relay device)
12 reel 15 reel motor 16 rotary encoder (reel rotation sensor)
31 drive roller 35 roller motor 36 rotary encoder (roller rotation sensor)
50 Motor controller

Claims (9)

A. A cable that connects the base unit and the mobile unit, or connects the relay unit and the mobile unit that can transmit signals between the base unit and the mobile unit, and performs at least signal transmission,
I. A reel on which the cable is wound and which is disposed on one of the moving body side and the base device side, or one of the relay device side and the moving body side, and rotates the reel in a cable feeding direction and a cable winding direction. A reel motor having a reel motor, and a reel rotation sensor that outputs a signal related to the rotation of the reel,
C. Disposed in the vicinity of the reel apparatus, a driving roller for sending the cable, a roller motor for rotating the drive roller at least in the cable pay-out City direction, the roller rotation sensor for outputting a signal related to the rotation of the drive roller, the A roller mechanism having
D. A motor controller for controlling the reel motor and the roller motor,
With
The motor controller, the cable feeding Sutame from said reel, driving the reel motor and the roller motor, the reel and the drive roller rotates the cable pay-out City direction simultaneously, when Shi this cable feeding based on the reel rotation sensor and the signal of the roller rotation sensor, so that the cable feeding shi speed and a predetermined speed cable feed speed are equal to each other in the driving roller in the reel, the reel motor and the roller motor Control and
Furthermore the motor controller, when Shi the cable pay-out, (a) when the supply current to the roller motor is less than the first threshold value, temporarily increases the rotational speed of the drive roller, thereby the Increasing the tension of the cable between the reel device and the roller mechanism, and (b) when the supply current to the roller motor exceeds a second threshold value larger than the first threshold value, A cable system for temporarily reducing the rotational speed of the drive roller, thereby reducing the tension of the cable between the reel device and the roller mechanism. The motor controller drives the reel motor and the roller motor to wind the cable on the reel, and simultaneously rotates the reel and the drive roller in the cable winding direction. Based on signals from the reel rotation sensor and the roller rotation sensor, the reel motor and the roller motor are controlled so that the cable winding speed at the reel and the cable feed speed at the drive roller are equal to each other and a predetermined speed. Control and
Further, when the cable is wound, the motor controller temporarily reduces the rotation speed of the drive roller when the current supplied to the reel motor is smaller than a third threshold value. Increasing the tension of the cable between the device and the roller mechanism; (b) if the current supplied to the reel motor exceeds a fourth threshold greater than the third threshold, 2. The cable system according to claim 1, wherein the rotation speed of the drive roller is increased to thereby reduce the tension of the cable between the reel device and the roller mechanism. The motor controller is operational and the rotational speed of the reel, on the basis of the most diameter or circumference of the information of the outer portion of the cable wound on the reel, the cable pay-out City speed and the cable take-up speed in the reel The cable system according to claim 2, wherein: The reel rotation sensor includes a rotary encoder that outputs a pulse signal each time the reel rotates at a predetermined angle,
The motor controller determines a rotation direction of the reel based on a pulse signal from the rotary encoder and calculates an integrated encoder value. The integrated encoder value is determined when the reel is rotating in the winding direction. By adding the number of pulse signals and subtracting the number of pulse signals when the reel is rotating in the payout direction,
3. The motor controller according to claim 2, wherein the motor controller calculates the cable feeding speed and the cable winding speed based on the integrated encoder value and a pulse signal output from the rotary encoder per unit time. Cable system.   The cable system according to claim 1, wherein the motor controller sets the roller motor to be motor-free at the time of winding the cable. The motor controller is capable of executing an automatic control mode, in which the rotation direction of the drive roller is determined based on a signal from the roller rotation sensor, and the drive roller rotates in the cable feeding direction. when it is determined that performs feeding city of the cable, when it is determined that the drive roller is rotated to the stop or the cable winding direction, and executes the winding of the cable The cable system according to claim 1. The motor controller, in the automatic control mode, when the cable feeding city amount since the start of the cable feeding city has reached a predetermined amount, and stops the driving of the reel motor and the roller motor, again the rollers rotate The cable system according to claim 6, wherein the rotation direction of the drive roller is determined based on a signal from the sensor. The base device can select motor-free in the automatic control mode, and when the motor controller determines that the drive roller is rotating in the cable feeding direction in the automatic control mode, the motor-free mode is selected. The cable system according to claim 6, wherein the reel motor and the roller motor are made motor-free according to selection. The base unit, in addition to the automatic control mode, the feeding city mode, a take-up mode selectable, the motor controller, when subjected to the automatic control mode of the selection signal from the base apparatus, the performs automatic control mode, when receiving a selection signal of the payout City mode performs Shinomi feeding of the cable, when receiving a selection signal of the winding mode only performs winding of the cable The cable system according to claim 6 , wherein:

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