Cable system
A cable system A includes a cable 3 for connecting a base device 1 and a travelling body 2 , a reel device 10 mounted on the travelling body 2 , a motor controller 40 for controlling a motor 15 of the reel device 10 , and a rotary encoder 16 (rotation sensor) for detecting rotation of a reel 12 . The motor controller 40 basically makes the motor 15 free, when the reel 12 is rotating in an unreeling direction, and basically applies a rotational torque in a reeling direction to the reel 12 , when the reel 12 is rotating in the reeling direction. Furthermore, even if the reel 12 is rotating in the unreeling direction, if an unreeling speed of the cable 3 exceeds a travelling speed of the travelling body 2 , the rotational torque in the reeling direction is applied to the reel 12 . Slackening of the cable 3 is thereby prevented.
1. A cable system comprising:
a) a cable for connecting a base station and a travelling body, and for at least transmitting a signal;
b) a reel device mounted on the travelling body, the reel device including a reel for reeling the cable, a motor for driving the reel, and a rotation sensor for outputting information about rotation of the reel;
c) a speed sensor for outputting information about a travelling speed of the travelling body; and
d) a motor controller for controlling the motor of the reel device,
wherein the motor controller judges a rotational direction of the reel based on the information from the rotation sensor, and when the judgement is made that the reel is rotating in a direction of unreeling the cable, the motor controller allows the motor to rotate freely, and when the judgement is made that the reel is rotating in a direction of reeling the cable, the motor controller drives the motor to apply a rotational torque in the reeling direction to the reel, and
wherein, even in a state where the reel is rotating in the unreeling direction, if an unreeling speed of the cable from the reel based on information about a reeled state of the cable around the reel and the information about a rotational speed of the reel output from the rotation sensor exceeds the travelling speed of the travelling body based on the information from the speed sensor, the motor controller drives the motor to apply the rotational torque in the reeling direction to the reel.
2. The cable system according to claim 1 ,
wherein the rotation sensor comprises a rotary encoder for outputting pulse signals at each predetermined angular rotation of the reel,
wherein the motor controller judges the rotational direction of the reel based on the pulse signals from the rotary encoder, and also calculates an integrated encoder value so that the number of pulses is added to the integrated encoder value when the reel is rotating in the reeling direction and the number of pulses is subtracted from the integrated encoder value when the reel is rotating in the unreeling direction, and
wherein the motor controller calculates the unreeling speed of the cable based on the integrated encoder value as the information about the reeled state of the cable around the reel and the number of the pulse signals from the rotary encoder per unit time as the information about the rotational speed of the reel.
3. The cable system according to claim 2 , wherein the motor controller calculates, based on the integrated encoder value, a diameter or a perimeter of one turn of the cable at an outermost position of the cable wound around the reel, calculates a rotational speed of the reel in the unreeling direction based on the pulse signals per unit time from the rotary encoder, and calculates the unreeling speed of the cable based on the diameter or the perimeter of the one turn of the cable and the rotational speed of the reel.
4. The cable system according to claim 2 , wherein the motor controller stores data indicating a relationship between the integrated encoder value and a length of the cable wound around the reel, calculates an amount of change in a cable length per unit time corresponding to a change in the integrated encoder value per unit time based on the pulse signals per unit time from the rotary encoder and the stored data, the amount of change in the cable length per unit time being provided as the unreeling speed of the cable.