WO2019095260A1 - Control apparatus for cable winding and unwinding and apparatus for cable winding and unwinding - Google Patents
Control apparatus for cable winding and unwinding and apparatus for cable winding and unwinding Download PDFInfo
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- WO2019095260A1 WO2019095260A1 PCT/CN2017/111572 CN2017111572W WO2019095260A1 WO 2019095260 A1 WO2019095260 A1 WO 2019095260A1 CN 2017111572 W CN2017111572 W CN 2017111572W WO 2019095260 A1 WO2019095260 A1 WO 2019095260A1
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- microprocessor
- cable
- motor
- reel
- unwinding
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- 238000004891 communication Methods 0.000 claims description 18
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- 238000000034 method Methods 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
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- 230000002441 reversible effect Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/60—Tethered aircraft
Definitions
- 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.
- 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.
- 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.
- 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.
- 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.
- the force sensor 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
- 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.
- FIG. 1 is a schematic structural view of a retractable line control device according to an embodiment of the present application.
- FIG. 2 is a schematic structural view of a retractable line device according to an embodiment of the present application.
- FIG. 3 is a schematic structural view of a retractable line device according to an embodiment of the present application.
- FIG. 4 is a schematic structural diagram of a retractable line device according to an embodiment of the present application.
- FIG. 5 is a schematic flow chart of the retracting and retracting line device of FIG.
- FIG. 1 is a schematic structural diagram of a retractable line control device according to an embodiment of the present application.
- 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.
- 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.
- PID algorithm Proportion Integral Differential
- 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.
- 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.
- 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.
- the force sensor 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
- 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 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the retractable line device further includes a heat dissipating device disposed on one side of the reel 300.
- 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.
- 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.
- 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.
- the alarm device may be a signal light such as an LED light or a buzzer.
- 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.
- the base includes a box, a roller and a drawbar.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- the microprocessor is a single chip microcomputer.
- the retractable line device further includes a control end module and a Bluetooth module
- the control end module is a mobile terminal, such as a mobile phone.
- the mobile phone communicates with the microprocessor through the Bluetooth module.
- 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.
- 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.
- 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.
- 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.
- 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.
- the tension sensor will be subjected to the outward pulling force.
- 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.
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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
本申请涉及系留无人机的技术领域,特别是涉及一种可用于系留无人机的收放线控制装置及收放线装置。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.
系留无人机主要应用于长时间不间断的空中监控和应急通讯,可以搭载特制可见光摄像机和红外热成像仪,也可以搭载特制应急通讯中继设备。目前系留无人机已经在军事、消防、石油、海洋、测绘、交通、科研等多个专业领域广泛应用。系留无人机可以很好解决无人机的供电和长航时问题,以此为开端,完全可以开辟起庞大的工业级无人机市场。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.
然而,目前的系留无人机收放线控制只能粗略实现收放线,系统可靠性不强,准确度不高。比如,系留无人机在执行任务过程中,由人工将电源线从沉重的电缆盘上放出来不但需要大量的人力,而且无法准确输出需要长度的电线,准确度有限;当无人机下降时,也无法按时、准确收线,极有可能导致电源线混乱散落在地上,从而造成电源线的破损和妨碍无人机的作业,可靠性不强。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.
发明内容Summary of the invention
根据本申请公开的各种实施例,提供一种收放线控制装置及收放线装置。According to various embodiments disclosed herein, a retractable line control device and a retractable line device are provided.
一种收放线控制装置,包括相互连接的微处理器和力传感器;A retractable line control device comprising a microprocessor and a force sensor connected to each other;
力传感器获取线缆的受力参数,并将受力参数发送至微处理器;微处理器接收外部控制信号及受力参数,并根据PID算法生成转速调节指令,转速调节指令用于线缆收放控制。
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.
一种收放线装置,包括电机、卷筒和如上的收放线控制装置,收放线控制装置中的微处理器与电机连接,电机与卷筒连接;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;
微处理器将转速调节指令发送至电机以控制电机转动,电机驱动卷筒运转进行线缆收放。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.
上述收放线控制装置及收放线装置,包括相互连接的微处理器和力传感器,其中,力传感器获取线缆的受力参数,并将受力参数发送至微处理器,微处理器根据接收的外部控制信号及受力参数,通过PID算法生成用于控制收放线的转速调节指令,从而实现对线缆收放的控制。在进行收放线操作时,由力传感器实时获取线缆的受力参数,微处理器根据该受力参数判断当前线缆收放速度与线缆另一端设备移动速度的匹配程度,当不匹配时,及时通过转速调节指令调节驱动卷筒运转的电机的转速,从而使得在放线时能准确输出需要长度的电线,准确度高,在收线时能避免卷筒拉扯影响线缆另一端设备的正常工作,可靠性强。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.
为了更清楚地说明本申请实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它的附图。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.
图1为本申请一实施例中收放线控制装置的结构示意图;1 is a schematic structural view of a retractable line control device according to an embodiment of the present application;
图2为本申请一实施例中收放线装置的结构示意图;2 is a schematic structural view of a retractable line device according to an embodiment of the present application;
图3为本申请一实施例中收放线装置的结构示意图;3 is a schematic structural view of a retractable line device according to an embodiment of the present application;
图4为本申请一实施例中收放线装置的结构示意图;及4 is a schematic structural diagram of a retractable line device according to an embodiment of the present application; and
图5为图4中收放线装置进行收放线操作的流程示意图。FIG. 5 is a schematic flow chart of the retracting and retracting line device of FIG.
为了使本申请的发明目的、技术方案及技术效果更加清楚明白,以下结
合附图对本申请的具体实施例进行描述。应当理解,此处所描述的具体实施例仅仅用以解释本申请,并不用于限定本申请。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.
图1为本申请一实施例中收放线控制装置的结构示意图。如图1所示,收放线控制装置100包括相互连接的微处理器110和力传感器120;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;
力传感器120获取线缆的受力参数,并将受力参数发送至微处理器110;微处理器110接收外部控制信号及受力参数,并根据PID算法生成转速调节指令,转速调节指令用于线缆收放控制。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.
收放线控制装置100用于调控线缆收放,其包括相互连接的微处理器110和力传感器120。其中,力传感器120用于获取线缆的受力参数,具体的,力传感器120可以包括拉力传感器、张力传感器和压力传感器等可用于实时检测对应的拉力、张力和压力等力学参数的传感器。力传感器120将实时获取的线缆的受力参数发送至微处理器110,微处理器110接收外部控制信号及该受力参数,并根据PID算法(Proportion Integral Differential)生成转速调节指令,该转速调节指令用于线缆收放控制。进一步地,微处理器110可以为单片机、FPGA(Field-Programmable Gate Array,现场可编程门阵列)或DSP(Digital Signal Processor,数字信号处理器)。微处理器110根据接收的外部控制信号及力传感器120发送的受力参数,根据PID算法生成转速调节指令,从而实现对线缆收放的控制,从而保证线缆不过度拉伸与过度松弛。其中,PID算法是指比例-积分-微分算法,PID算法是一个闭环控制算法,因此要实现PID算法,需实现硬件上的闭环控制。具体应用时,微处理器110根据接收到的受力参数,如线缆拉力值,通过PID算法得到相应的目标速度值及加速度值,再进一步生成得到转速调节指令,用于及时调节电机转速。比如控制一个电机的转速,通过测速传感器将电机转速测量结果反馈到控制路线上,根据与目标转速的对比结果对电机进行加速或减速,从而实现对电机的转速控制。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.
上述收放线控制装置,包括相互连接的微处理器和力传感器,其中,力传感器获取线缆的受力参数,并将受力参数发送至微处理器,微处理器根据
接收的外部控制信号及受力参数,通过PID算法生成用于控制收放线的转速调节指令,从而实现对线缆收放的控制。在进行收放线操作时,由力传感器实时获取线缆的受力参数,微处理器根据该受力参数判断当前线缆收放速度与线缆另一端设备移动速度的匹配程度,当不匹配时,及时通过转速调节指令调节驱动卷筒运转的电机的转速,从而使得在放线时能准确输出需要长度的电线,准确度高,在收线时能避免卷筒拉扯影响线缆另一端设备的正常工作,可靠性强。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.
基于上述收放线控制装置100,本申请还提供一种收放线装置。Based on the above-described retractable line control device 100, the present application also provides a retractable line device.
图2为本申请一实施例中收放线装置的结构示意图。如图2所示,收放线装置包括电机200、卷筒300和如上的收放线控制装置100,收放线控制装置100中的微处理器110与电机200连接,电机200与卷筒300连接;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;
微处理器110将转速调节指令发送至电机200以控制电机200转动,电机200驱动卷筒300运转进行线缆收放。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.
收放线装置包括电机200、卷筒300和收放线控制装置100,其中,收放线控制装置100控制电机200转动,电机200驱动卷筒300运转,卷筒300通过正向和反向转动进行线缆收放。具体的,收放线控制装置100包括相互连接的微处理器110和力传感器120,微处理器110与电机200连接。力传感器120将实时检测的线缆的受力参数发送至微处理器110,微处理器根据接收的外部控制信号及力传感器120发送的受力参数,采用PID算法生成转速调节指令并发送至电机200,电机200在转速调节指令控制下调节转速,驱动卷筒300改变运转速度,从而实现了对线缆收放速度的调控。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.
上述收放线装置,在进行收放线操作时,由力传感器实时获取线缆的受力参数,微处理器根据该受力参数通过PID算法判断当前线缆收放速度与线缆另一端设备移动速度的匹配程度,当不匹配时,及时通过转速调节指令调节驱动卷筒运转的电机的转速,从而使得在放线时能准确输出需要长度的电线,准确度高,在收线时能避免卷筒拉扯影响线缆另一端设备的正常工作,可靠性强。
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.
进一步地,收放线装置还包括发送控制信号的控制端装置,控制端装置与微处理器连接。控制端装置与微处理器110连接,可以直接将外部控制信号发送至微处理器,控制收放线装置启动或停止收放线操作以及调节收放线的速度。在具体应用时,力传感器120用于实时检测线缆受力参数,并根据该受力参数由微处理器110实时对电机转速进行调控;另一方面,通过控制端装置启动/关闭装置工作和调节收放线速度。在具体实现时,控制端装置可以包括按钮组件,如启动开关、调速开关,还可以包括显示设备;通过启动开关实现装置的启动及关闭,如当开启放线的开关按钮后,微处理器发出放线控制信号至电机进一步驱动卷筒自动送线;通过调速开关调节装置收放线速度,通过显示设备实时获取装置的工作状态,如收放线的长度、速度等工作状态信息。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.
进一步地,收放线装置还包括通信装置,控制端装置通过通信装置与微处理器110连接。控制端装置通过通信装置与微处理器110连接,通信装置外部控制信号的收发,将控制端装置发出的外部控制信号传递至微处理器110中,同时将微处理器110返回的装置工作状态信息传递至控制端装置。具体的,通信装置可以包括有线通信模块或无线通信模块,无线通信模块可以为蓝牙模块、3G/4G模块、WIFI模块等。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.
进一步地,控制端装置包括移动终端,移动终端包括手机、平板电脑和个人数字助理中的至少一种。控制端装置可以为移动终端,移动终端通过通信装置向微处理器发出控制信号,从而实现对装置启动/关闭及收放线速度的控制。更进一步地,移动终端还可以显示微处理器返回的卷筒运转速度和收线、放线的长度等工作状态信息,以便控制端装置可以及时了解装置运行状态。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.
进一步地,收放线装置还包括设于卷筒300一侧的排线机构,排线机构用于调节线缆在卷筒300上收放时的排布。排线机构可以用于调节线缆在卷筒300上收放时的排布,可以确保线缆在卷筒300上均匀分布,避免了线缆可能出现交叉重叠等情况,从而对线缆另一端设备的作业产生不良影响的问
题。具体应用时,排线机构可以为丝杠,通过丝杠对线缆收放时的调节,可以将线缆有序地、均匀地排布在卷筒上,以有效解决现有收放线系统不能收放适当长度的线,电源线排布混乱、工作效率低,可靠性不高等问题。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.
进一步地,收放线装置还包括与电机200连接的紧急开关,紧急开关控制电机200紧急制动。紧急开关与电机200连接,当发生紧急情况,如系统出现故障或者需要立刻停止工作时,通过紧急开关可以及时对电机200实现制动,确保系统的安全停止。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.
进一步地,收放线装置还包括散热装置,散热装置设于卷筒300的一侧。卷筒300进行收放线时,通过在卷筒300一侧设置散热装置来对线缆及卷筒300进行散热降温,可以保证装置在高温环境中稳定运行,也能避免温度过高对线缆造成损害。在具体应用时,散热装置可以为风扇,可以在卷筒的周边设置一定角度的风扇,对线缆及卷筒进行散热降温。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.
进一步地,收放线装置还包括警报装置,报警装置与微处理器110连接。报警装置与微处理器110连接,当线缆收放完成时,微处理器110发出提示信号,由报警装置接收该提示信号后发出报警信号,以提示收线或放线已完成或发生故障,从而可以确保操作人员能够及时了解装置的工作情况。进一步地,报警装置可以为信号灯,如LED灯或蜂鸣器等。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.
进一步地,收放线装置还包括底座,底座包括箱体、滚轮和拉杆;其中,箱体用于固定微处理器110、力传感器120、电机200和卷筒300,滚轮设于箱体的底部,拉杆设于箱体的一侧。底座用于固定整个装置,具体的,底座包括箱体、滚轮和拉杆。其中,箱体的空腔结构设放各模块器件,如微处理器、力传感器、电机和卷筒,进一步地,还可以设放通信装置、报警装置、紧急开关、散热装置和排线机构等;滚轮设置在箱体底部,拉杆设在箱体的一侧,便于整个收放线装置的携带及运输。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.
图3为本申请一实施例中收放线装置的结构示意图。如图3所示,收放线装置包括收放线控制装置100、电机200、卷筒300、报警装置、控制端设备、通信装置、紧急开关、散热装置和排线机构,其中,收放线控制装置100
包括相互连接的微处理器110和力传感器120;进一步地,微处理器110还与报警装置、通信装置和电机200连接,控制端装置与通信装置连接,电机200与卷筒300以及紧急开关连接,散热装置和排线机构均设于卷筒300的一侧。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.
上述收放线装置,微处理器110接收控制端装置通过通信装置发送的控制信号以及力传感器检测的线缆的受力参数,通过PID算法生成转速调节指令并发送至电机200,电机200在转速调节指令的控制下调节转速并驱动卷筒300改变转速,从而实现对线缆收放线速度的实时调控。在进行收放线操作时,由力传感器实时获取线缆的受力参数,微处理器根据该受力参数通过PID算法判断当前线缆收放速度与线缆另一端设备移动速度的匹配程度,当不匹配时,及时通过转速调节指令调节驱动卷筒运转的电机的转速,从而使得在放线时能准确输出需要长度的电线,准确度高,在收线时能避免卷筒拉扯影响线缆另一端设备的正常工作,可靠性强。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.
此外,装置具有有序排线功能,微处理器110在收放线的过程会根据装置工作状态是处于收线还是放线状态来驱动排线机构的来往运动,确保电线在卷筒上的有序,避免了电线可能出现交叉重叠等情况,从而对无人机的作业产生不良影响的问题;报警装置及时发出提示信号已提醒装置工作情况;紧急开关可用于电机的紧急制动;散热装置对线缆及卷筒实时散热降温;确保装置在高温环境下稳定运行。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.
图4为本申请一实施例中收放线装置的结构示意图。如图4所示,本实施例中,收放线装置包括微处理器(图未示)、力传感器120、卷筒200、电机300、丝杠400、风扇500、底座盘600。其中,电机300转动驱动卷筒200运转,通过正反向运转控制,实现对线缆的收放线缠绕;卷筒200与电机300同轴设置,卷筒200设于电机300的外侧,用于线缆的缠绕;丝杠400设于卷筒上方,固定在底座盘600上,用于实现线缆收放时在卷筒200上的均匀分布;力传感器120固设与丝杠400上,用于检测线缆上的受力参数,具体的,力传感器120为拉力传感器,可以实时检测线缆上的拉力值;风扇500固设于卷筒200两侧的底座盘600上,用于对装置散热降温;底座盘600固
定各部分器件;微处理器(图未示)设放与底座盘600内,具体的,微处理器为单片机。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.
进一步地,收放线装置还包括控制端模块和蓝牙模块,控制端模块为移动终端,如手机。具体的,手机通过该蓝牙模块与微处理器实现通信,一方面,手机通过蓝牙模块向微处理器发送控制信号,如启动装置或关闭装置以及转速调节;另一方面,微处理器也实时返回装置的工作状态,如卷筒200的运转速度、收线或放线长度等工作状态信息,以便控制端实时掌握装置工作情况。上述收放线装置能够自主收线和放线,电缆卷筒能够根据无人机的飞行高度和速度主动调节收放速度,可做到与无人机的同步配合,且可以通过控制端装置调节速度,速度最大可以达到2米每秒。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.
图5为利用图4中收放线装置进行收放线操作的流程示意图。如图5所示,装置启动初始化后,移动终端与收放线控制装置通过蓝牙模块连接,移动终端打开收/放线开关,并设定收/放线速度,生成控制信号并下发至收放线控制装置中的微处理器,即单片机,单片机根据该控制信号控制电机正/反向转动,实现收/放线操作。在收/放线操作进行的同时,拉力传感器实时检测线缆上的拉力值并发送至单片机,单片机根据拉力值通过PID闭环控制算法生成用于调节收放速度的转速调节指令,电机根据接收到的转速调节指令实时调节转速,从而驱动卷筒运转速度实时调节,以匹配线缆另一端设备当前的所需的收/放线速度。进一步地,可以通过存储器记录最后一次装置的工作状态信息,在装置启动初始化之后,读取上一次的状态信息,进行装置配置。具体的,将上述收放线装置应用于系留无人机,当无人机的上升速度大于卷筒的放线速度的时候,拉力传感器受到向外的拉力,并且将检测的拉力值交给微处理器,即单片机进行处理,单片机采集到相应的压力值后采用PID算法得到相应的加速度,从而加快电机的转速,使卷筒的转速达到与无人机一致。在无人机下降的过程中,如果无人机的下降速度小于卷筒的转速,拉力传感器会受到向外的拉力,此时单片机根据拉力值通过PID算法得到相应加速度,从而自动降低电机的转速,使预留在卷筒外部的线有充足的余量,保
证在收线时候,不会因为卷筒的拉扯而使无人机的飞行受到影响。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.
以上实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。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.
以上实施例仅表达了本申请的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。
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 (10)
- 一种收放线控制装置,其特征在于,包括相互连接的微处理器和力传感器;A retractable line control device, comprising: a microprocessor and a force sensor connected to each other;所述力传感器获取线缆的受力参数,并将所述受力参数发送至所述微处理器;所述微处理器接收外部控制信号及所述受力参数,并根据PID算法生成转速调节指令,所述转速调节指令用于线缆收放控制。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.
- 一种收放线装置,其特征在于,包括电机、卷筒和如权利要求1所述的收放线控制装置,所述收放线控制装置中的所述微处理器与所述电机连接,所述电机与所述卷筒连接;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;所述微处理器将所述转速调节指令发送至所述电机以控制所述电机转动,所述电机驱动所述卷筒运转进行线缆收放。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.
- 根据权利要求2所述的收放线装置,其特征在于,还包括发送控制信号的控制端装置,所述控制端装置与所述微处理器连接。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.
- 根据权利要求3所述的收放线装置,其特征在于,还包括通信装置,所述控制端装置通过所述通信装置与所述微处理器连接。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.
- 根据权利要求3所述的收放线装置,其特征在于,所述控制端装置包括移动终端,所述移动终端包括手机、平板电脑和个人数字助理中的至少一种。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.
- 根据权利要求2所述的收放线装置,其特征在于,还包括设于所述卷筒一侧的排线机构,所述排线机构用于调节线缆在所述卷筒上收放时的排布。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.
- 根据权利要求2所述的收放线装置,其特征在于,还包括与所述电机连接的紧急开关,所述紧急开关控制所述电机紧急制动。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.
- 根据权利要求2所述的收放线装置,其特征在于,还包括散热装置,所述散热装置设于所述卷筒的一侧。The retractable cord device according to claim 2, further comprising a heat dissipating device disposed on one side of the reel.
- 根据权利要求2所述的收放线装置,其特征在于,还包括警报装置,所述报警装置与所述微处理器连接。 The take-up and take-up device of claim 2, further comprising an alarm device coupled to said microprocessor.
- 根据权利要求2所述的收放线装置,其特征在于,还包括底座,所述底座包括箱体、滚轮和拉杆;The retractable cord device according to claim 2, further comprising a base, the base comprising a box body, a roller and a drawbar;其中,所述箱体用于固定所述微处理器、所述力传感器、所述电机和所述卷筒,所述滚轮设于所述箱体的底部,所述拉杆设于所述箱体的一侧。 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.
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