WO2019095260A1

WO2019095260A1 - Control apparatus for cable winding and unwinding and apparatus for cable winding and unwinding

Info

Publication number: WO2019095260A1
Application number: PCT/CN2017/111572
Authority: WO
Inventors: 车嘉兴; 刘术高; 卢致辉; 邓桂生; 田伟程
Original assignee: 深圳市科比特航空科技有限公司
Priority date: 2017-11-17
Filing date: 2017-11-17
Publication date: 2019-05-23

Abstract

A control apparatus for cable winding and unwinding (100) and an apparatus for cable winding and unwinding, the control apparatus for cable winding and unwinding (100) comprising: a microprocessor (110) and a force sensor (120) that are connected to each other; the force sensor (120) acquires a stress parameter of a cable and sends the stress parameter to the microprocessor (110); the microprocessor (110) receives an external control signal and the stress parameter, and generates a rotation speed adjustment instruction according to the Proportional-Integral-Derivative (PID) algorithm, the rotation speed adjustment instruction being used for controlling cable winding and unwinding. While performing a cable winding and unwinding operation, the control apparatus for cable winding and unwinding (100) and the apparatus for cable winding and unwinding obtain a stress parameter of a cable in real time by means of the force sensor (120), and the microprocessor (110) determines, according to the stress parameter, a degree to which the current speed of cable winding and unwinding and the moving speed of a device at another end of the cable match; if mismatched, by means of a rotation speed adjustment instruction, promptly adjusting the rotation speed of a motor (200) that drives a reel (300) to operate such that a cable of a required length may be accurately outputted during unwinding, accuracy being high; moreover, the reel (300) may be prevented from pulling and affecting the normal operation of the device at the other end of the cable during cable winding, and thus reliability is high.

Description

Retractable line control device and retractable line device

Technical field

The present application relates to the technical field of mooring drones, and more particularly to a retractable line control device and a retractable line device that can be used for a mooring drone.

Background technique

The mooring drone is mainly used for long-term uninterrupted airborne surveillance and emergency communications. It can be equipped with a special visible light camera and an infrared thermal imager, or it can be equipped with a special emergency communication relay device. At present, the mooring drone has been widely used in many professional fields such as military, fire, oil, ocean, surveying, transportation, and scientific research. The mooring drone can solve the problem of power supply and long-haul time of the drone. As a starting point, it can completely open up a huge industrial-grade drone market.

However, the current control of the retractable line of the mooring can only achieve rough retraction line, the system reliability is not strong, and the accuracy is not high. For example, when the mooring drone is in the process of performing the task, manually releasing the power cord from the heavy cable reel does not only require a lot of manpower, but also cannot accurately output the wire of the required length, and the accuracy is limited; when the drone is lowered At the same time, it is impossible to close the line on time and accurately, which may cause the power line to be scattered on the ground, which may cause damage to the power line and hinder the operation of the drone, and the reliability is not strong.

Summary of the invention

According to various embodiments disclosed herein, a retractable line control device and a retractable line device are provided.

A retractable line control device comprising a microprocessor and a force sensor connected to each other;

The force sensor acquires the force parameter of the cable, and sends the force parameter to the microprocessor; the microprocessor receives the external control signal and the force parameter, and generates a speed adjustment command according to the PID algorithm, and the speed adjustment command is used for the cable receiving Release control.

A retractable line device comprises a motor, a reel and a retracting line control device as described above, wherein the microprocessor in the retracting line control device is connected to the motor, and the motor is connected to the reel;

The microprocessor sends a speed adjustment command to the motor to control the rotation of the motor, and the motor drives the reel to operate for cable retraction.

The above-mentioned retractable line control device and the retractable line device include an interconnected microprocessor and a force sensor, wherein the force sensor acquires a force parameter of the cable, and sends the force parameter to the microprocessor, and the microprocessor The received external control signal and the force parameter are used to generate a speed adjustment command for controlling the retractable line through the PID algorithm, thereby realizing control of cable retracting. When performing the retracting line operation, the force sensor obtains the force parameter of the cable in real time, and the microprocessor determines the matching degree between the current cable retracting speed and the moving speed of the other end of the cable according to the force parameter, when the mismatch is When the speed adjustment command is used in time to adjust the rotation speed of the motor that drives the reel operation, the wire of the required length can be accurately outputted when the line is released, and the accuracy is high, and the roll pull can be prevented from affecting the other end of the cable when the line is taken up. The normal work and reliability.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a schematic structural view of a retractable line control device according to an embodiment of the present application;

2 is a schematic structural view of a retractable line device according to an embodiment of the present application;

3 is a schematic structural view of a retractable line device according to an embodiment of the present application;

4 is a schematic structural diagram of a retractable line device according to an embodiment of the present application; and

FIG. 5 is a schematic flow chart of the retracting and retracting line device of FIG.

Detailed ways

In order to make the object, technical solution and technical effects of the present application more clear, the following conclusions Specific embodiments of the present application are described in conjunction with the drawings. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

FIG. 1 is a schematic structural diagram of a retractable line control device according to an embodiment of the present application. As shown in Figure 1, the retractable line control device 100 includes a microprocessor 110 and a force sensor 120 connected to each other;

The force sensor 120 acquires the force parameter of the cable, and sends the force parameter to the microprocessor 110; the microprocessor 110 receives the external control signal and the force parameter, and generates a speed adjustment command according to the PID algorithm, and the speed adjustment command is used for Cable retraction control.

The retractable line control device 100 is used to regulate cable retraction, and includes a microprocessor 110 and a force sensor 120 that are connected to each other. The force sensor 120 is configured to acquire a force parameter of the cable. Specifically, the force sensor 120 may include a tension sensor, a tension sensor, and a pressure sensor, etc., which can be used to detect mechanical parameters such as tension, tension, and pressure in real time. The force sensor 120 sends the force parameter of the cable acquired in real time to the microprocessor 110. The microprocessor 110 receives the external control signal and the force parameter, and generates a speed adjustment command according to a PID algorithm (Proportion Integral Differential). The adjustment command is used for cable retraction control. Further, the microprocessor 110 may be a single chip microcomputer, an FPGA (Field-Programmable Gate Array) or a DSP (Digital Signal Processor). The microprocessor 110 generates a rotation speed adjustment command according to the PID algorithm according to the received external control signal and the force parameter sent by the force sensor 120, thereby implementing control of the cable retracting, thereby ensuring that the cable is not excessively stretched and excessively slackened. Among them, the PID algorithm refers to the proportional-integral-derivative algorithm, and the PID algorithm is a closed-loop control algorithm. Therefore, to implement the PID algorithm, it is necessary to implement closed-loop control on the hardware. In a specific application, the microprocessor 110 obtains a corresponding target speed value and an acceleration value according to the received force parameter, such as the cable pull value, and further generates a speed adjustment command for adjusting the motor speed in time. For example, the speed of a motor is controlled, and the motor speed measurement result is fed back to the control route through the speed measuring sensor, and the motor is accelerated or decelerated according to the comparison result with the target speed, thereby realizing the rotation speed control of the motor.

The above-mentioned retractable line control device comprises a microprocessor and a force sensor connected to each other, wherein the force sensor acquires a force parameter of the cable, and sends the force parameter to the microprocessor, and the microprocessor according to The received external control signal and the force parameter are used to generate a speed adjustment command for controlling the retractable line through the PID algorithm, thereby realizing control of cable retracting. When performing the retracting line operation, the force sensor obtains the force parameter of the cable in real time, and the microprocessor determines the matching degree between the current cable retracting speed and the moving speed of the other end of the cable according to the force parameter, when the mismatch is When the speed adjustment command is used in time to adjust the rotation speed of the motor that drives the reel operation, the wire of the required length can be accurately outputted when the line is released, and the accuracy is high, and the roll pull can be prevented from affecting the other end of the cable when the line is taken up. The normal work and reliability.

Based on the above-described retractable line control device 100, the present application also provides a retractable line device.

FIG. 2 is a schematic structural diagram of a retractable line device according to an embodiment of the present application. As shown in FIG. 2, the retractable line device includes a motor 200, a reel 300, and a retractable line control device 100 as above. The microprocessor 110 in the retractable line control device 100 is coupled to the motor 200, and the motor 200 and the reel 300 connection;

The microprocessor 110 sends a speed adjustment command to the motor 200 to control the rotation of the motor 200, and the motor 200 drives the reel 300 to operate for cable retraction.

The take-up and take-up device includes a motor 200, a reel 300, and a retractable wire control device 100, wherein the retractable wire control device 100 controls the rotation of the motor 200, the motor 200 drives the reel 300 to operate, and the reel 300 rotates in the forward and reverse directions. Cable retracting. Specifically, the retractable line control device 100 includes a microprocessor 110 and a force sensor 120 that are connected to each other, and the microprocessor 110 is connected to the motor 200. The force sensor 120 sends the force parameter of the cable detected in real time to the microprocessor 110. The microprocessor generates a speed adjustment command by using a PID algorithm according to the received external control signal and the force parameter sent by the force sensor 120, and sends the speed adjustment command to the motor. 200, the motor 200 adjusts the rotational speed under the control of the rotational speed adjustment command, and drives the reel 300 to change the running speed, thereby realizing the regulation of the cable retracting speed.

The above-mentioned retracting line device obtains the force parameter of the cable in real time by the force sensor during the retracting line operation, and the microprocessor determines the current cable retracting speed and the other end of the cable through the PID algorithm according to the force parameter. When the matching speed of the moving speed is not matched, the speed of the motor that drives the reel is adjusted in time by the speed adjustment command, so that the wire of the required length can be accurately outputted when the line is released, and the accuracy is high, and can be avoided when the line is taken up. The roll pull affects the normal operation of the other end of the cable, and the reliability is strong.

Further, the retractable line device further includes a control end device that transmits a control signal, and the control end device is connected to the microprocessor. The control terminal device is connected to the microprocessor 110, and can directly send an external control signal to the microprocessor to control the retraction line device to start or stop the retracting line operation and adjust the speed of the retracting line. In a specific application, the force sensor 120 is used for detecting the cable force parameter in real time, and according to the force parameter, the microprocessor 110 adjusts the motor speed in real time; on the other hand, the control device starts/closes the device operation and Adjust the take-up and line speed. In a specific implementation, the control device may include a button component, such as a start switch, a speed switch, and may also include a display device; the start and the shutdown of the device are realized by the start switch, such as when the switch button of the payoff is turned on, the microprocessor The payout control signal is sent to the motor to further drive the automatic feeding of the reel; the speed of the retracting device is adjusted by the speed regulating switch, and the working state of the device, such as the length and speed of the retracting line, is obtained in real time through the display device.

Further, the retractable line device further includes a communication device, and the control device is connected to the microprocessor 110 through the communication device. The control terminal device is connected to the microprocessor 110 through the communication device, and the external control signal is sent and received by the communication device, and the external control signal sent by the control device is transmitted to the microprocessor 110, and the device working state information returned by the microprocessor 110 is simultaneously Transfer to the console device. Specifically, the communication device may include a wired communication module or a wireless communication module, and the wireless communication module may be a Bluetooth module, a 3G/4G module, a WIFI module, or the like.

Further, the console device includes a mobile terminal including at least one of a mobile phone, a tablet computer, and a personal digital assistant. The control terminal device may be a mobile terminal, and the mobile terminal sends a control signal to the microprocessor through the communication device, thereby realizing control of the device start/stop and the retracting line speed. Further, the mobile terminal can also display the operating status information of the reel running speed and the length of the take-up and pay-off returned by the microprocessor, so that the control device can know the running state of the device in time.

Further, the wire reeling device further includes a wire arranging mechanism disposed on one side of the reel 300, and the wire arranging mechanism is used for adjusting the arrangement of the cable when it is retracted on the reel 300. The cable arranging mechanism can be used to adjust the arrangement of the cable when it is retracted on the reel 300, and the cable can be evenly distributed on the reel 300, thereby avoiding overlapping of the cable, and thus the other end of the cable. The problem of equipment's operation has an adverse effect question. In the specific application, the cable arranging mechanism can be a screw rod, and the cable can be arranged in an orderly and evenly on the reel when the cable is retracted and retracted, so as to effectively solve the existing retracting and retracting line system. Can not retract the appropriate length of the line, power line layout confusion, low efficiency, low reliability and other issues.

Further, the retractable line device further includes an emergency switch connected to the motor 200, and the emergency switch controls the motor 200 to brake urgently. The emergency switch is connected to the motor 200. When an emergency occurs, such as when the system fails or needs to stop working immediately, the emergency switch can be used to brake the motor 200 in time to ensure the safe stop of the system.

Further, the retractable line device further includes a heat dissipating device disposed on one side of the reel 300. When the reel 300 performs the retracting line, the cable and the reel 300 are cooled and cooled by providing a heat dissipating device on the side of the reel 300, thereby ensuring stable operation of the device in a high temperature environment and avoiding excessive temperature to the cable. Cause damage. In a specific application, the heat dissipating device may be a fan, and a fan of a certain angle may be disposed around the reel to cool and cool the cable and the reel.

Further, the retractable line device further includes an alarm device that is coupled to the microprocessor 110. The alarm device is connected to the microprocessor 110. When the cable is retracted, the microprocessor 110 sends a prompt signal, and after receiving the prompt signal, the alarm device sends an alarm signal to indicate that the take-up or pay-off is completed or fails. This ensures that the operator is able to keep abreast of the operation of the unit. Further, the alarm device may be a signal light such as an LED light or a buzzer.

Further, the retractable line device further includes a base, the base includes a box body, a roller and a pull rod; wherein the box body is used for fixing the microprocessor 110, the force sensor 120, the motor 200 and the reel 300, and the roller is disposed at the bottom of the box body The pull rod is arranged on one side of the box. The base is used to fix the entire device. Specifically, the base includes a box, a roller and a drawbar. Wherein, the cavity structure of the box body is provided with various module components, such as a microprocessor, a force sensor, a motor and a reel, and further, a communication device, an alarm device, an emergency switch, a heat dissipating device, a cable arranging mechanism, etc. The roller is arranged at the bottom of the box, and the pull rod is arranged on one side of the box, which facilitates the carrying and transportation of the entire retractable line device.

FIG. 3 is a schematic structural diagram of a retractable line device according to an embodiment of the present application. As shown in FIG. 3, the retractable line device includes a retractable line control device 100, a motor 200, a reel 300, an alarm device, a control end device, a communication device, an emergency switch, a heat dissipating device, and a cable arranging mechanism, wherein the retracting wire Control device 100 The microprocessor 110 and the force sensor 120 are connected to each other; further, the microprocessor 110 is also connected to the alarm device, the communication device and the motor 200, the control device is connected to the communication device, and the motor 200 is connected to the reel 300 and the emergency switch. The heat sink and the wire arranging mechanism are all disposed on one side of the reel 300.

In the above-mentioned retractable line device, the microprocessor 110 receives the control signal sent by the control device through the communication device and the force parameter of the cable detected by the force sensor, generates a rotation speed adjustment command through the PID algorithm, and sends the rotation speed adjustment command to the motor 200, and the motor 200 is at the rotation speed. Under the control of the adjustment command, the rotation speed is adjusted and the reel 300 is driven to change the rotation speed, thereby realizing real-time regulation of the cable retracting line speed. When the retracting line operation is performed, the force sensor obtains the force parameter of the cable in real time, and the microprocessor determines, according to the force parameter, the matching degree between the current cable retracting speed and the moving speed of the other end of the cable. When there is no match, the speed of the motor that drives the reel is adjusted in time by the speed adjustment command, so that the wire of the required length can be accurately output when the line is released, the accuracy is high, and the cable pull can be prevented from affecting the cable when the line is taken up. The other end of the device works normally and is highly reliable.

In addition, the device has an orderly wiring function, and the process of the microprocessor 110 in the retracting line drives the movement of the cable arranging mechanism according to whether the device is in the state of being taken up or released, ensuring that the wire is on the reel. Preface, avoiding the problem that the wires may overlap and overlap, thus adversely affecting the operation of the drone; the alarm device promptly sends a prompt signal to remind the device to work; the emergency switch can be used for emergency braking of the motor; Cables and reels are cooled in real time to ensure stable operation in high temperature environments.

FIG. 4 is a schematic structural diagram of a retractable line device according to an embodiment of the present application. As shown in FIG. 4, in the present embodiment, the retractable line device includes a microprocessor (not shown), a force sensor 120, a reel 200, a motor 300, a lead screw 400, a fan 500, and a base plate 600. The motor 300 rotates to drive the reel 200 to operate, and the winding line of the cable is wound by the forward and reverse operation control; the reel 200 is disposed coaxially with the motor 300, and the reel 200 is disposed outside the motor 300 for Winding of the cable; the screw 400 is disposed above the reel and fixed on the base plate 600 for uniform distribution on the reel 200 when the cable is retracted; the force sensor 120 is fixed on the screw 400, and used For detecting the force parameter on the cable, specifically, the force sensor 120 is a tension sensor, and the tension value on the cable can be detected in real time; the fan 500 is fixed on the base plate 600 on both sides of the reel 200 for the device Cooling and cooling; base plate 600 solid Each part of the device is fixed; the microprocessor (not shown) is placed in the base plate 600. Specifically, the microprocessor is a single chip microcomputer.

Further, the retractable line device further includes a control end module and a Bluetooth module, and the control end module is a mobile terminal, such as a mobile phone. Specifically, the mobile phone communicates with the microprocessor through the Bluetooth module. On the one hand, the mobile phone sends a control signal to the microprocessor through the Bluetooth module, such as a starting device or a shutdown device and a speed adjustment; on the other hand, the microprocessor also returns in real time. The working state of the device, such as the running speed of the reel 200, the wire take-up or the length of the pay-off, and so on, so that the control end can grasp the working condition of the device in real time. The above-mentioned retracting and unloading line device can independently take up and release the line, and the cable reel can actively adjust the retracting speed according to the flying height and speed of the drone, and can be synchronized with the drone, and can be adjusted by the control end device. Speed, speed can reach up to 2 meters per second.

FIG. 5 is a schematic flow chart of the operation of the retracting and discharging line by using the retracting and discharging device of FIG. 4. As shown in FIG. 5, after the device is initialized, the mobile terminal and the retractable line control device are connected through the Bluetooth module, and the mobile terminal opens the receiving/receiving line switch, and sets the receiving/receiving line speed, generates a control signal, and sends it to the receiving. The microprocessor in the pay-off control device, that is, the single-chip microcomputer, and the single-chip microcomputer control the forward/reverse rotation of the motor according to the control signal to realize the receiving/discharging operation. At the same time of the receiving/discharging operation, the tension sensor detects the tension value on the cable in real time and sends it to the single-chip microcomputer. The single-chip microcomputer generates a speed adjustment command for adjusting the retracting speed according to the tension value through the PID closed-loop control algorithm, and the motor receives the The speed adjustment command adjusts the speed in real time to drive the reel operating speed in real time to match the current desired take/drop speed of the other end of the cable. Further, the working state information of the last device can be recorded through the memory, and after the device starts initialization, the last state information is read to perform device configuration. Specifically, the above-mentioned retracting line device is applied to the mooring drone, and when the rising speed of the drone is greater than the take-up speed of the reel, the tension sensor is subjected to an outward pulling force, and the detected pulling force value is given to The microprocessor, that is, the single-chip microcomputer, processes the corresponding pressure value and then uses the PID algorithm to obtain the corresponding acceleration, thereby accelerating the rotation speed of the motor, so that the rotation speed of the reel is consistent with that of the drone. In the process of drone drop, if the descending speed of the drone is less than the speed of the reel, the tension sensor will be subjected to the outward pulling force. At this time, the MCU obtains the corresponding acceleration according to the tension value through the PID algorithm, thereby automatically reducing the motor speed. , so that the line reserved outside the reel has sufficient margin, When the card is closed, the flight of the drone will not be affected by the pulling of the reel.

The technical features of the above embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, It is considered to be the range described in this specification.

The above embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the present application. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A retractable line control device, comprising: a microprocessor and a force sensor connected to each other;

The force sensor acquires a force parameter of the cable, and sends the force parameter to the microprocessor; the microprocessor receives an external control signal and the force parameter, and generates a speed adjustment according to the PID algorithm Instructed, the speed adjustment command is used for cable retraction control.
A retractable wire device, comprising: a motor, a reel, and the retractable wire control device according to claim 1, wherein the microprocessor in the retractable wire control device is connected to the motor, The motor is coupled to the spool;

The microprocessor sends the speed adjustment command to the motor to control the rotation of the motor, and the motor drives the drum to operate for cable retraction.
The take-up and drop line device according to claim 2, further comprising a control terminal device that transmits a control signal, the control terminal device being coupled to the microprocessor.
The retractable cord device according to claim 3, further comprising a communication device, said control terminal device being coupled to said microprocessor via said communication device.
The take-up and drop line device according to claim 3, wherein the control terminal device comprises a mobile terminal, and the mobile terminal comprises at least one of a mobile phone, a tablet computer, and a personal digital assistant.
A retractable wire device according to claim 2, further comprising a wire arranging mechanism provided on one side of said reel, said wire arranging mechanism for adjusting the cable to be retracted on said reel Arrangement.
The take-up and reel device of claim 2, further comprising an emergency switch coupled to said motor, said emergency switch controlling said motor to brake urgently.
The retractable cord device according to claim 2, further comprising a heat dissipating device disposed on one side of the reel.
The take-up and take-up device of claim 2, further comprising an alarm device coupled to said microprocessor.
The retractable cord device according to claim 2, further comprising a base, the base comprising a box body, a roller and a drawbar;

Wherein the box is used for fixing the microprocessor, the force sensor, the motor and the reel, the roller is disposed at a bottom of the box, and the rod is disposed in the box One side.