CN114394493A - Control method, system, equipment and device for synchronous take-up and pay-off of crawler cable tray - Google Patents
Control method, system, equipment and device for synchronous take-up and pay-off of crawler cable tray Download PDFInfo
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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
- B65H75/48—Automatic re-storing devices
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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
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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
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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
- B65H75/4418—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means
- B65H75/4428—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means acting on the reel or on a reel blocking mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
- B65H75/4442—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding acting on the reel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- 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
- B65H75/4457—Arrangements of the frame or housing
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- 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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Abstract
Description
技术领域technical field
本发明涉及特种机器人领域，具体涉及爬行器线缆盘同步收放线的控制方法、系统、设备及装置。The invention relates to the field of special robots, and in particular relates to a control method, system, equipment and device for synchronously retracting and unwinding a cable tray of a crawler.
背景技术Background technique
随着城市发展，管道检测机器人蓬勃发展，管道检测机器人作为特种设备，主要应用在排水管道中。其主要由爬行器，线缆盘，控制系统组成，其中爬行器搭载了摄像机。操作人员通过控制系统控制爬行器移动，通过摄像机观察并拍摄管道内部情况，并通过线缆盘将拍摄的视频传输到控制系统中进行存储，以便操作人员了解管道内的情况。With the development of cities, pipeline inspection robots are booming. As special equipment, pipeline inspection robots are mainly used in drainage pipes. It is mainly composed of a crawler, a cable reel, and a control system, among which the crawler is equipped with a camera. The operator controls the movement of the crawler through the control system, observes and shoots the internal situation of the pipeline through the camera, and transmits the captured video to the control system for storage through the cable reel, so that the operator can understand the situation in the pipeline.
对于管道检测机器人，由于其使用环境多为结构复杂，埋设较深的排水管道或者箱涵，而管道检测机器人和控制器之间通过线缆连接进行通讯，随着管道检测机器人在管道中的不断行进，线缆输出越来越长，无法通过摄像机画面观察线缆的情况，操作人员无法准确把握收放电缆线的速度。For the pipeline inspection robot, due to its complex structure, buried deep drainage pipes or box culverts, the pipeline inspection robot and the controller communicate through cable connection, with the continuous operation of the pipeline inspection robot in the pipeline When traveling, the cable output is getting longer and longer, and it is impossible to observe the cable condition through the camera screen, and the operator cannot accurately grasp the speed of retracting and unwinding the cable.
在实际使用管道检测机器人时，容易产生线缆收放运动与管道检测机器人的动作不协调的情况：线缆盘回收速度较管道检测机器人快，线缆盘对管道检测机器人产生拖拽，可能导致线缆盘的负载过大而烧坏电机甚至将线缆拉断，以及拖拽对管道检测机器人造成损坏；线缆盘回收速度较管道检测机器人慢，则可能导致线缆缠绕在管道检测机器人的轮子而被绞断。因此必须对线缆收放运动进行高动态、高精度的运动控制，确保线缆盘与管道检测机器人的动作协调。When the pipeline inspection robot is actually used, it is easy to cause the inconsistency between the movement of the cable retraction and the movement of the pipeline inspection robot: the recovery speed of the cable reel is faster than that of the pipeline inspection robot, and the cable reel drags the pipeline inspection robot, which may cause The load of the cable reel is too large and the motor will burn out or even break the cable, and the dragging will cause damage to the pipeline inspection robot; the recovery speed of the cable reel is slower than that of the pipeline inspection robot, which may cause the cable to be entangled in the pipeline inspection robot. The wheel was twisted. Therefore, it is necessary to carry out high dynamic and high-precision motion control for the movement of the cable retraction and release to ensure the coordination of the movement of the cable tray and the pipeline inspection robot.
现有技术多采用磁性、弹性和拉力等检测装置来检测线缆张力，通过实时检测线缆张力对线缆的收放运动进行控制。但大多检测装置结构复杂拆装不便，灵敏度不高，无法保证检测的准确性，从而无法精确控制线缆盘与管道检测机器人的动作协调。In the prior art, detection devices such as magnetism, elasticity and tensile force are mostly used to detect the cable tension, and the retracting and unwinding motion of the cable is controlled by detecting the cable tension in real time. However, most of the detection devices have complex structures, inconvenient disassembly and assembly, low sensitivity, and cannot guarantee the accuracy of detection, so it is impossible to precisely control the movement coordination between the cable reel and the pipeline detection robot.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题是提供爬行器线缆盘同步收放线的控制方法、系统、设备及装置，以解决现有技术中检测结构复杂、拆装不便、检测灵敏度不高、检测结果准确性不高以及无法精确控制线缆盘与管道检测机器人动作协调的技术问题。The technical problem to be solved by the present invention is to provide a control method, system, equipment and device for synchronously retracting and releasing the cable reel of the crawler, so as to solve the problems of the complex detection structure, inconvenient disassembly and assembly, low detection sensitivity and accurate detection results in the prior art The technical problems of low performance and inability to precisely control the coordination between the cable reel and the pipe inspection robot.
本发明解决上述技术问题的技术方案如下：The technical scheme that the present invention solves the above-mentioned technical problems is as follows:
第一方面：first:
爬行器线缆盘同步收放线的控制方法，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括以下步骤，A control method for synchronously retracting and unwinding a cable reel of a crawler, which is used to control the real-time running speed of a crawler connected to the cable and the real-time reeling and unwinding speed of the cable reel used to reel in the cable to keep synchronous, comprising: the following steps,
获取所述爬行器的实时行驶速度，并根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；Obtain the real-time running speed of the crawler, and obtain the real-time retracting and unwinding line speed of the cable reel according to the real-time running speed of the crawler;
获取所述线缆盘中电机的实时电流值，并将预设的参考电流值与获取到的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；Acquiring the real-time current value of the motor in the cable tray, and comparing the preset reference current value with the acquired real-time current value of the motor in the cable tray to obtain a real-time current deviation value;
基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；Based on the running direction of the crawler, and according to the positive and negative of the real-time current deviation value, determine the relationship between the real-time retracting and unwinding speed of the cable reel and the real-time running speed of the crawler;
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；Based on the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler, PID calculation is performed on the real-time current deviation value to obtain a PID control amount;
根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。According to the PID control quantity, the real-time current value of the motor in the cable tray is adjusted in real time, and the real-time retracting and unwinding line speed of the cable tray is controlled to be synchronized with the real-time running speed of the crawler.
第二方面：Second aspect:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制系统。Based on the control method for synchronously retracting and paying out the cable reel of the crawler, the present invention also provides a control system for the synchronous retracting and reeling of the cable reel of the crawler.
爬行器线缆盘同步收放线的控制系统，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括以下模块，A control system for synchronously retracting and unwinding a cable reel of a crawler, used to control the real-time running speed of the crawler connected to the cable and the real-time rewinding and unwinding speed of the cable reel used for reeling and synchronizing the cable, comprising: The following modules,
收放线速度获取模块，其用于获取所述爬行器的实时行驶速度，并根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；a retracting and unwinding line speed acquisition module, which is used to obtain the real-time running speed of the crawler, and obtain the real-time retracting and unwinding line speed of the cable reel according to the real-time running speed of the crawler;
电流偏差值计算模块，其用于获取所述线缆盘中电机的实时电流值，并将预设的参考电流值与获取到的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；A current deviation value calculation module, which is used to obtain the real-time current value of the motor in the cable tray, compare the preset reference current value with the acquired real-time current value of the motor in the cable tray, and obtain the real-time current value of the motor in the cable tray. Current deviation value;
速度关系判定模块，其用于基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；A speed relationship determination module, which is used to determine the real-time retracting and unwinding line speed of the cable reel and the real-time driving of the crawler based on the driving direction of the crawler and the positive and negative of the real-time current deviation value relationship between speeds;
PID调节模块，其用于基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；a PID adjustment module, which is used to perform PID calculation on the real-time current deviation value based on the relationship between the real-time retracting and unwinding line speed of the cable tray and the real-time running speed of the crawler to obtain a PID control amount;
同步控制模块，其用于根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。A synchronous control module, which is used to adjust the real-time current value of the motor in the cable tray in real time according to the PID control amount, and then control the real-time retracting and unwinding speed of the cable tray to keep the real-time running speed of the crawler. Synchronize.
第三方面：The third aspect:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制设备。Based on the control method for synchronously retracting and unwinding the cable reel of the crawler, the present invention also provides a control device for the synchronous rewinding and reeling of the cable reel of the crawler.
爬行器线缆盘同步收放线的控制设备，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括速度传感器、电流检测芯片和综合控制器；A control device for synchronously retracting and unwinding a cable reel of a crawler, for controlling the real-time running speed of the crawler connected to the cable to keep synchronizing with the real-time rewinding and reeling speed of the cable reel for retracting the cable, including Speed sensor, current detection chip and integrated controller;
所述速度传感器安装在所述爬行器上，所述速度传感器通过所述线缆与所述综合控制器连接；所述电流检测芯片集成在所述线缆盘中的线缆盘控制系统内，所述线缆盘控制系统通过线缆盘控制线缆与所述综合控制连接；The speed sensor is installed on the crawler, and the speed sensor is connected to the integrated controller through the cable; the current detection chip is integrated in the cable reel control system in the cable reel, The cable tray control system is connected to the integrated control through a cable tray control cable;
所述速度传感器，其用于获取所述爬行器的实时行驶速度，并将所述实时行驶速度通过所述线缆传输至所述综合控制器；the speed sensor for acquiring the real-time running speed of the crawler, and transmitting the real-time running speed to the integrated controller through the cable;
所述电流检测芯片，其用于获取所述线缆盘中电机的实时电流值，并将所述实时电流值依托所述线缆盘控制系统且通过所述线缆盘控制线缆传输至所述综合控制器；The current detection chip is used to obtain the real-time current value of the motor in the cable tray, and rely on the cable tray control system and transmit the real-time current value to the cable tray control cable through the cable tray control cable. the integrated controller;
所述综合控制器用于，The integrated controller is used to,
根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；According to the real-time running speed of the crawler, the real-time retracting and unwinding line speed of the cable reel is obtained;
将预设的参考电流值与传输过来的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；Comparing the preset reference current value with the transmitted real-time current value of the motor in the cable tray to obtain a real-time current deviation value;
基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；Based on the running direction of the crawler, and according to the positive and negative of the real-time current deviation value, determine the relationship between the real-time retracting and unwinding speed of the cable reel and the real-time running speed of the crawler;
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；Based on the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler, PID calculation is performed on the real-time current deviation value to obtain a PID control amount;
根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。According to the PID control quantity, the real-time current value of the motor in the cable tray is adjusted in real time, and the real-time retracting and unwinding line speed of the cable tray is controlled to be synchronized with the real-time running speed of the crawler.
第四方面：Fourth aspect:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制装置。Based on the control method for synchronously retracting and paying out the cable reel of the crawler, the present invention also provides a control device for the synchronous retracting and reeling of the cable reel of the crawler.
爬行器线缆盘同步收放线的控制装置，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括处理器、存储器以及存储在所述存储器内的计算机程序，所述计算机程序被所述处理器执行时实现如上述所述的控制方法。A control device for synchronously retracting and unwinding a cable reel of a crawler, used to control the real-time running speed of the crawler connected to the cable and the real-time reeling and unwinding speed of the cable reel used to reel in the cable to keep synchronization, including A processor, a memory, and a computer program stored in the memory, the computer program implementing the control method as described above when executed by the processor.
本发明的有益效果是：本发明爬行器线缆盘同步收放线的控制方法、系统、设备及装置采用电流监测技术，通过线缆盘驱动电机电流值控制线缆盘和爬行器协调运动，其所涉及的功能硬件结构简单、安装方便，且控制灵敏度高、控制结果准确，可以精确控制线缆盘与管道检测机器人动作协调。The beneficial effects of the present invention are as follows: the control method, system, equipment and device for synchronously retracting and unwinding the cable reel of the crawler of the present invention adopts the current monitoring technology, and controls the coordinated movement of the cable reel and the crawler through the current value of the cable reel driving motor. The functional hardware involved is simple in structure, convenient in installation, high in control sensitivity and accurate in control results, and can precisely control the movement coordination between the cable tray and the pipeline detection robot.
附图说明Description of drawings
图1为本发明爬行器线缆盘同步收放线的控制方法的流程图；Fig. 1 is the flow chart of the control method of the crawler cable reel synchronously retracting and unwinding line of the present invention;
图2为本发明爬行器线缆盘同步收放线的控制方法的原理图；FIG. 2 is a schematic diagram of a control method for synchronously retracting and releasing lines of a crawler cable reel according to the present invention;
图3为对爬行器中电机的电流值进行PID控制的原理图；Figure 3 is a schematic diagram of PID control of the current value of the motor in the crawler;
图4为本发明爬行器线缆盘同步收放线的控制系统的结构框图；Fig. 4 is a structural block diagram of a control system for synchronously retracting and releasing lines of a crawler cable reel according to the present invention;
图5为本发明爬行器线缆盘同步收放线的控制设备的结构框图。FIG. 5 is a structural block diagram of the control device for synchronously retracting and unwinding the cable reel of the crawler according to the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.
实施例一：Example 1:
如图1和2所示，爬行器线缆盘同步收放线的控制方法，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括以下步骤，As shown in Figures 1 and 2, the control method for synchronously retracting and unwinding the cable reel of the crawler is used to control the real-time running speed of the crawler connected to the cable and the real-time running speed of the cable reel used to retract the cable. The speed of retracting and unwinding is kept synchronized, including the following steps,
获取所述爬行器的实时行驶速度，并根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；Obtain the real-time running speed of the crawler, and obtain the real-time retracting and unwinding line speed of the cable reel according to the real-time running speed of the crawler;
获取所述线缆盘中电机的实时电流值，并将预设的参考电流值与获取到的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；Acquiring the real-time current value of the motor in the cable tray, and comparing the preset reference current value with the acquired real-time current value of the motor in the cable tray to obtain a real-time current deviation value;
基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；Based on the running direction of the crawler, and according to the positive and negative of the real-time current deviation value, determine the relationship between the real-time retracting and unwinding speed of the cable reel and the real-time running speed of the crawler;
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；Based on the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler, PID calculation is performed on the real-time current deviation value to obtain a PID control amount;
根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。According to the PID control quantity, the real-time current value of the motor in the cable tray is adjusted in real time, and the real-time retracting and unwinding line speed of the cable tray is controlled to be synchronized with the real-time running speed of the crawler.
在本实施例中，预设的所述参考电流值具体为所述线缆盘空载时实测的电机电流值。其中，线缆盘空载即为线缆盘没有缠绕线缆的情况。In this embodiment, the preset reference current value is specifically the motor current value measured when the cable tray is not loaded. Wherein, the empty load of the cable reel refers to the condition that the cable reel is not wound with cables.
在本实施例中，当所述线缆盘中电机的实时电流值大于所述参考电流值时，则所述实时电流偏差值为负值；当所述线缆盘中电机的实时电流值小于所述参考电流值时，则所述实时电流偏差值为正值；In this embodiment, when the real-time current value of the motor in the cable tray is greater than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable tray is less than When the reference current value is the value, the real-time current deviation value is a positive value;
判断所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系的具体步骤为，The specific steps for judging the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler are:
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler;
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler runs away from the cable reel and the real-time current deviation value is a negative value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度。When the crawler runs away from the cable reel and the real-time current deviation value is positive, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler.
在其他实施例中，当所述线缆盘中电机的实时电流值大于所述参考电流值时，则所述实时电流偏差值为正值；当所述线缆盘中电机的实时电流值小于所述参考电流值时，则所述实时电流偏差值为负值；In other embodiments, when the real-time current value of the motor in the cable tray is greater than the reference current value, the real-time current deviation value is a positive value; when the real-time current value of the motor in the cable tray is less than When the reference current value is the value, the real-time current deviation value is a negative value;
判断所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系的具体步骤为，The specific steps for judging the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler are:
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler;
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler runs away from the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度。When the crawler runs away from the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler.
总而言之，本发明通过比较线缆盘中电机的实时电流值与所述参考电流值之间的大小来判断所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系。例如：根据线缆盘空载时实测的电机电流值，作为参考电流值，本例中该值为3A。当爬行器朝向线缆盘行驶，线缆盘收线；若线缆盘中电机的实时电流值大于3A，则认为此时线缆盘收线速度高于爬行器的行驶速度，此时线缆张力大，存在线缆负载过大情况从而损坏线缆；若线缆盘驱动电机电流值小于3A，则认为此时线缆盘收线速度低于爬行器的行驶速度，此时线缆张力小，存在管道检测机器人压住线缆的情况。爬行器背向所述线缆盘行驶时，线缆盘放线；若线缆盘中电机的实时电流值大于3A，则认为此时线缆盘放线速度低于爬行器的行驶速度，此时线缆张力大，存在线缆负载过大情况从而损坏线缆；若线缆盘中电机的实时电流值小于3A，则认为此时线缆盘放线速度高于爬行器的行驶速度，此时线缆张力小，存在线缆盘线缆在绕线盘上缠绕混乱的情况。All in all, the present invention judges the difference between the real-time retracting and unwinding speed of the cable tray and the real-time running speed of the crawler by comparing the magnitude between the real-time current value of the motor in the cable tray and the reference current value. relation. For example: according to the motor current value measured when the cable tray is no-load, as the reference current value, in this example, the value is 3A. When the crawler travels towards the cable reel, the cable reel takes up the cable; if the real-time current value of the motor in the cable reel is greater than 3A, it is considered that the cable reel take-up speed is higher than the crawler's driving speed at this time, and the cable If the tension is large, the cable is overloaded and the cable is damaged; if the current value of the cable tray drive motor is less than 3A, it is considered that the cable tray retracting speed is lower than the crawler's running speed at this time, and the cable tension is small at this time. , there is a situation where the pipeline detection robot presses the cable. When the crawler runs away from the cable reel, the cable reel pays off; if the real-time current value of the motor in the cable reel is greater than 3A, it is considered that the speed of the cable reel is lower than the speed of the crawler at this time. When the cable tension is large, the cable is overloaded and the cable is damaged; if the real-time current value of the motor in the cable tray is less than 3A, it is considered that the cable tray payout speed is higher than the crawler's running speed at this time. When the tension of the cable is small, there is a situation that the cable of the cable reel is chaotically wound on the reel.
在本实施例中，对所述实时电流偏差值进行PID计算的具体过程为，In this embodiment, the specific process of performing PID calculation on the real-time current deviation value is:
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，根据所述实时电流偏差值对所述线缆盘中电机的实时电流值进行比例调节，得到实时电流比例调节值；Based on the relationship between the real-time retracting and unwinding speed of the cable tray and the real-time running speed of the crawler, the real-time current value of the motor in the cable tray is proportionally adjusted according to the real-time current deviation value to obtain Real-time current proportional adjustment value;
对比例调节误差产生的偏差值实时积累至所述实时电流比例调节值中，得到实时电流比例调节值积分量；The deviation value generated by the proportional adjustment error is accumulated in the real-time current proportional adjustment value in real time, and the integral amount of the real-time current proportional adjustment value is obtained;
对所述实时电流比例调节值积分量进行微分处理，得到所述PID控制量。Differential processing is performed on the integral amount of the real-time current proportional adjustment value to obtain the PID control amount.
图3为对爬行器中电机的电流值进行PID控制的原理图，其为一个闭环控制；将爬行器中电机的实时电流值同参考电流值的偏差做为PID输入量，通过PID算法计算PID控制量，从而控制线缆盘速度同管道检测机器人的速度保持同步。在PID算法中，得到偏差值后，通过比例快速调节线缆盘速度，但由于其存在误差不能很好的稳定在理想值范围，所以同时通过对偏差误差值累计，消除误差影响；最后微分控制，保持其电流值达到稳定；即通过PID调节使线缆盘速度同管道检测机器人速度协调同步。Figure 3 is a schematic diagram of the PID control of the current value of the motor in the crawler, which is a closed-loop control; the deviation between the real-time current value of the motor in the crawler and the reference current value is used as the PID input, and the PID is calculated by the PID algorithm. Control quantity, thereby controlling the speed of the cable reel to keep pace with the speed of the pipeline inspection robot. In the PID algorithm, after the deviation value is obtained, the speed of the cable reel is quickly adjusted by proportion, but due to its error, it cannot be well stabilized in the ideal value range, so at the same time, the error effect is eliminated by accumulating the deviation error value; finally, the differential control , to keep its current value stable; that is, through PID adjustment, the speed of the cable reel is coordinated and synchronized with the speed of the pipeline detection robot.
实施例二：Embodiment 2:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制系统。Based on the control method for synchronously retracting and paying out the cable reel of the crawler, the present invention also provides a control system for the synchronous retracting and reeling of the cable reel of the crawler.
如图4所示，爬行器线缆盘同步收放线的控制系统，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括以下模块，As shown in FIG. 4 , the control system for synchronously retracting and unwinding the cable reel of the crawler is used to control the real-time running speed of the crawler connected to the cable and the real-time retracting and unwinding of the cable reel for retracting the cable. Line speed is kept in sync, including the following modules,
收放线速度获取模块，其用于获取所述爬行器的实时行驶速度，并根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；a retracting and unwinding line speed acquisition module, which is used to obtain the real-time running speed of the crawler, and obtain the real-time retracting and unwinding line speed of the cable reel according to the real-time running speed of the crawler;
电流偏差值计算模块，其用于获取所述线缆盘中电机的实时电流值，并将预设的参考电流值与获取到的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；A current deviation value calculation module, which is used to obtain the real-time current value of the motor in the cable tray, compare the preset reference current value with the acquired real-time current value of the motor in the cable tray, and obtain the real-time current value of the motor in the cable tray. Current deviation value;
速度关系判定模块，其用于基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；A speed relationship determination module, which is used to determine the real-time retracting and unwinding line speed of the cable reel and the real-time driving of the crawler based on the driving direction of the crawler and the positive and negative of the real-time current deviation value relationship between speeds;
PID调节模块，其用于基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；a PID adjustment module, which is used to perform PID calculation on the real-time current deviation value based on the relationship between the real-time retracting and unwinding line speed of the cable tray and the real-time running speed of the crawler to obtain a PID control amount;
同步控制模块，其用于根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。A synchronous control module, which is used to adjust the real-time current value of the motor in the cable tray in real time according to the PID control amount, and then control the real-time retracting and unwinding speed of the cable tray to keep the real-time running speed of the crawler. Synchronize.
在本实施例中，预设的所述参考电流值具体为所述线缆盘空载时实测的电机电流值。In this embodiment, the preset reference current value is specifically the motor current value measured when the cable tray is not loaded.
在本实施例中，当所述线缆盘中电机的实时电流值大于所述参考电流值时，则所述实时电流偏差值为负值；当所述线缆盘中电机的实时电流值小于所述参考电流值时，则所述实时电流偏差值为正值；In this embodiment, when the real-time current value of the motor in the cable tray is greater than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable tray is less than When the reference current value is the value, the real-time current deviation value is a positive value;
所述速度关系判定模块具体用于，The speed relationship determination module is specifically used to:
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler;
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler runs away from the cable reel and the real-time current deviation value is a negative value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度。When the crawler runs away from the cable reel and the real-time current deviation value is positive, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler.
在其他实施例中，当所述线缆盘中电机的实时电流值大于所述参考电流值时，则所述实时电流偏差值为正值；当所述线缆盘中电机的实时电流值小于所述参考电流值时，则所述实时电流偏差值为负值；In other embodiments, when the real-time current value of the motor in the cable tray is greater than the reference current value, the real-time current deviation value is a positive value; when the real-time current value of the motor in the cable tray is less than When the reference current value is the value, the real-time current deviation value is a negative value;
所述速度关系判定模块具体用于，The speed relationship determination module is specifically used to:
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler;
当所述爬行器朝向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler travels toward the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为正值时，则判定所述线缆盘的实时收放线速度低于所述爬行器的实时行驶速度；When the crawler runs away from the cable reel and the real-time current deviation value is a positive value, it is determined that the real-time retracting and unwinding line speed of the cable reel is lower than the real-time running speed of the crawler;
当所述爬行器背向所述线缆盘行驶，且所述实时电流偏差值为负值时，则判定所述线缆盘的实时收放线速度高于所述爬行器的实时行驶速度。When the crawler runs away from the cable reel and the real-time current deviation value is negative, it is determined that the real-time retracting and unwinding line speed of the cable reel is higher than the real-time running speed of the crawler.
总而言之，本发明通过比较线缆盘中电机的实时电流值与所述参考电流值之间的大小来判断所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系。例如：根据线缆盘空载时实测的电机电流值，作为参考电流值，本例中该值为3A。当爬行器朝向线缆盘行驶，线缆盘收线；若线缆盘中电机的实时电流值大于3A，则认为此时线缆盘收线速度高于爬行器的行驶速度，此时线缆张力大，存在线缆负载过大情况从而损坏线缆；若线缆盘驱动电机电流值小于3A，则认为此时线缆盘收线速度低于爬行器的行驶速度，此时线缆张力小，存在管道检测机器人压住线缆的情况。爬行器背向所述线缆盘行驶时，线缆盘放线；若线缆盘中电机的实时电流值大于3A，则认为此时线缆盘放线速度低于爬行器的行驶速度，此时线缆张力大，存在线缆负载过大情况从而损坏线缆；若线缆盘中电机的实时电流值小于3A，则认为此时线缆盘放线速度高于爬行器的行驶速度，此时线缆张力小，存在线缆盘线缆在绕线盘上缠绕混乱的情况。All in all, the present invention judges the difference between the real-time retracting and unwinding speed of the cable tray and the real-time running speed of the crawler by comparing the magnitude between the real-time current value of the motor in the cable tray and the reference current value. relation. For example: according to the motor current value measured when the cable tray is no-load, as the reference current value, in this example, the value is 3A. When the crawler travels towards the cable reel, the cable reel takes up the cable; if the real-time current value of the motor in the cable reel is greater than 3A, it is considered that the cable reel take-up speed is higher than the crawler's driving speed at this time, and the cable If the tension is large, the cable is overloaded and the cable is damaged; if the current value of the cable tray drive motor is less than 3A, it is considered that the cable tray retracting speed is lower than the crawler's running speed at this time, and the cable tension is small at this time. , there is a situation where the pipeline detection robot presses the cable. When the crawler runs away from the cable reel, the cable reel pays off; if the real-time current value of the motor in the cable reel is greater than 3A, it is considered that the cable reel pay-off speed is lower than the crawler's driving speed at this time. When the cable tension is large, the cable is overloaded and the cable is damaged; if the real-time current value of the motor in the cable tray is less than 3A, it is considered that the cable tray payout speed is higher than the crawler's running speed at this time. When the tension of the cable is small, there is a situation that the cable of the cable reel is chaotically wound on the reel.
在本实施例中，所述PID调节模块具体用于，In this embodiment, the PID adjustment module is specifically used to:
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，根据所述实时电流偏差值对所述线缆盘中电机的实时电流值进行比例调节，得到实时电流比例调节值；Based on the relationship between the real-time retracting and unwinding speed of the cable tray and the real-time running speed of the crawler, the real-time current value of the motor in the cable tray is proportionally adjusted according to the real-time current deviation value to obtain Real-time current proportional adjustment value;
对比例调节误差产生的偏差值实时积累至所述实时电流比例调节值中，得到实时电流比例调节值积分量；The deviation value generated by the proportional adjustment error is accumulated in the real-time current proportional adjustment value in real time, and the integral amount of the real-time current proportional adjustment value is obtained;
对所述实时电流比例调节值积分量进行微分处理，得到所述PID控制量。Differential processing is performed on the integral amount of the real-time current proportional adjustment value to obtain the PID control amount.
图3为对爬行器中电机的电流值进行PID控制的原理图，其为一个闭环控制；将爬行器中电机的实时电流值同参考电流值的偏差做为PID输入量，通过PID算法计算PID控制量，从而控制线缆盘速度同管道检测机器人的速度保持同步。在PID算法中，得到偏差值后，通过比例快速调节线缆盘速度，但由于其存在误差不能很好的稳定在理想值范围，所以同时通过对偏差误差值累计，消除误差影响；最后微分控制，保持其电流值达到稳定；即通过PID调节使线缆盘速度同管道检测机器人速度协调同步。Figure 3 is a schematic diagram of the PID control of the current value of the motor in the crawler, which is a closed-loop control; the deviation between the real-time current value of the motor in the crawler and the reference current value is used as the PID input, and the PID is calculated by the PID algorithm. Control quantity, thereby controlling the speed of the cable reel to keep pace with the speed of the pipeline inspection robot. In the PID algorithm, after the deviation value is obtained, the speed of the cable reel is quickly adjusted by proportion, but due to its error, it cannot be well stabilized in the ideal value range, so at the same time, the error effect is eliminated by accumulating the deviation error value; finally, the differential control , to keep its current value stable; that is, through PID adjustment, the speed of the cable reel is coordinated and synchronized with the speed of the pipeline detection robot.
实施例三：Embodiment three:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制设备。Based on the control method for synchronously retracting and unwinding the cable reel of the crawler, the present invention also provides a control device for the synchronous rewinding and reeling of the cable reel of the crawler.
如图5所示，爬行器线缆盘同步收放线的控制设备，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括速度传感器、电流检测芯片和综合控制器；As shown in FIG. 5 , the control device for synchronously retracting and unwinding the cable reel of the crawler is used to control the real-time running speed of the crawler connected to the cable and the real-time retracting and unwinding of the cable reel for retracting the cable. Line speed is kept synchronized, including speed sensor, current detection chip and integrated controller;
所述速度传感器安装在所述爬行器上，所述速度传感器通过所述线缆与所述综合控制器连接；所述电流检测芯片集成在所述线缆盘中的线缆盘控制系统内，所述线缆盘控制系统通过线缆盘控制线缆与所述综合控制连接；The speed sensor is installed on the crawler, and the speed sensor is connected to the integrated controller through the cable; the current detection chip is integrated in the cable reel control system in the cable reel, The cable tray control system is connected to the integrated control through a cable tray control cable;
所述速度传感器，其用于获取所述爬行器的实时行驶速度，并将所述实时行驶速度通过所述线缆传输至所述综合控制器；the speed sensor for acquiring the real-time running speed of the crawler, and transmitting the real-time running speed to the integrated controller through the cable;
所述电流检测芯片，其用于获取所述线缆盘中电机的实时电流值，并将所述实时电流值依托所述线缆盘控制系统且通过所述线缆盘控制线缆传输至所述综合控制器；The current detection chip is used to obtain the real-time current value of the motor in the cable tray, and rely on the cable tray control system and transmit the real-time current value to the cable tray control cable through the cable tray control cable. the integrated controller;
所述综合控制器用于，The integrated controller is used to,
根据所述爬行器的实时行驶速度得出所述线缆盘的实时收放线速度；According to the real-time running speed of the crawler, the real-time retracting and unwinding line speed of the cable reel is obtained;
将预设的参考电流值与传输过来的所述线缆盘中电机的实时电流值作比较，得到实时电流偏差值；Comparing the preset reference current value with the transmitted real-time current value of the motor in the cable tray to obtain a real-time current deviation value;
基于所述爬行器的行驶方向，且根据所述实时电流偏差值的正负性判断出所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系；Based on the running direction of the crawler, and according to the positive and negative of the real-time current deviation value, determine the relationship between the real-time retracting and unwinding speed of the cable reel and the real-time running speed of the crawler;
基于所述线缆盘的实时收放线速度与所述爬行器的实时行驶速度之间的关系，对所述实时电流偏差值进行PID计算，得到PID控制量；Based on the relationship between the real-time retracting and unwinding line speed of the cable reel and the real-time running speed of the crawler, PID calculation is performed on the real-time current deviation value to obtain a PID control amount;
根据所述PID控制量实时调节所述线缆盘中电机的实时电流值，进而控制所述线缆盘的实时收放线速度同所述爬行器的实时行驶速度保持同步。According to the PID control quantity, the real-time current value of the motor in the cable tray is adjusted in real time, and the real-time retracting and unwinding line speed of the cable tray is controlled to be synchronized with the real-time running speed of the crawler.
在本实施例中，综合控制器的具体功能参见上述所述的控制方法或控制系统中记载的相关内容，在此不再赘述。In this embodiment, for the specific function of the integrated controller, reference may be made to the above-mentioned control method or related content recorded in the control system, which will not be repeated here.
实施例四：Embodiment 4:
基于爬行器线缆盘同步收放线的控制方法，本发明还提供爬行器线缆盘同步收放线的控制装置。Based on the control method for synchronously retracting and paying out the cable reel of the crawler, the present invention also provides a control device for the synchronous retracting and reeling of the cable reel of the crawler.
爬行器线缆盘同步收放线的控制装置，用于控制连接于线缆的爬行器的实时行驶速度与用于收放所述线缆的线缆盘的实时收放线速度保持同步，包括处理器、存储器以及存储在所述存储器内的计算机程序，所述计算机程序被所述处理器执行时实现如上述所述的控制方法。A control device for synchronously retracting and unwinding a cable reel of a crawler, used to control the real-time running speed of the crawler connected to the cable and the real-time reeling and unwinding speed of the cable reel used to reel in the cable to keep synchronization, including A processor, a memory, and a computer program stored in the memory, the computer program implementing the control method as described above when executed by the processor.
本发明爬行器线缆盘同步收放线的控制方法、系统、设备及装置采用电流监测技术，通过线缆盘驱动电机电流值控制线缆盘和爬行器协调运动，其所涉及的功能硬件结构简单、安装方便，且控制灵敏度高、控制结果准确，可以精确控制线缆盘与管道检测机器人动作协调。The control method, system, equipment and device for synchronously retracting and unwinding the cable tray of the crawler of the present invention adopts the current monitoring technology, and controls the coordinated movement of the cable tray and the crawler through the current value of the cable tray driving motor, and the functional hardware structure involved. It is simple, easy to install, has high control sensitivity and accurate control results, and can precisely control the coordination between the cable reel and the pipeline inspection robot.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection of the present invention. within the range.
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Denomination of invention: Control method, system, equipment and device for synchronous cable winding and retraction of crawler cable reel Granted publication date: 20240213 Pledgee: Agricultural Bank of China Limited Wuhan Jiangxia Branch Pledgor: WUHAN EASY-SIGHT TECHNOLOGY Co.,Ltd. Registration number: Y2024980054312 |
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Denomination of invention: Control method, system, equipment and device for synchronous cable winding and retraction of crawler cable reel Granted publication date: 20240213 Pledgee: Agricultural Bank of China Limited Wuhan Jiangxia Branch Pledgor: WUHAN EASY-SIGHT TECHNOLOGY Co.,Ltd. Registration number: Y2025980011162 |