A multi-machine interconnected cable laying system based on intelligent panoramic perception

Abstract

The present invention discloses a multi-machine interconnected cable laying system based on intelligent panoramic perception, comprising: a plurality of cable laying machines respectively located in different cable wells, and the plurality of cable laying machines transport cables in a relay manner; in addition, it also comprises an information acquisition module and a coordination control terminal. The information acquisition module can acquire the working parameters of each cable laying machine in real time, and the working parameters are transmitted to the coordination control terminal through the communication module to realize the monitoring of the working status of the cable laying machine. When the working parameter information collected by the information acquisition module does not meet the preset parameter threshold, the coordination control terminal sends the optimized working parameters to the cable laying machine that needs to be adjusted through the communication module, thereby ensuring the coordinated work of each cable laying machine and further improving the cable laying quality.

Description

Technical Field

[0001] The present invention relates to the technical field of cable laying, and in particular to a multi-machine interconnected cable laying system based on intelligent panoramic perception. Background Art

[0002] The cable laying method is crucial to ensuring the safety and reliability of power transmission. Currently, cable laying mainly adopts the method of laying cables in pipelines by using a capstan to drive a steel wire rope to pull the cable.

[0003] However, as cable diameter and length increase, the resistance to cable laying increases exponentially. Traditional laying methods can easily lead to wire rope breakage and cable damage, thus affecting normal operation. Furthermore, when the cable bends, problems such as cable wear and armor flattening can occur, requiring timely adjustments, which increases labor intensity and construction efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-machine interconnected cable laying system based on intelligent panoramic perception, which can monitor the cables during laying, thereby ensuring the quality of cable laying.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A multi-machine interconnected cable laying system based on intelligent panoramic perception, comprising:

[0007] Multiple cable laying machines are located in different cable wells, and the cables are transported in a relay manner;

[0008] An information acquisition module, the information acquisition module is used to collect operating parameters of the cable laying machine;

[0009] A coordination control terminal is connected to the information acquisition module through a communication module, and is used to adjust the operating parameters of the cable laying machine when the operating parameter information collected by the information acquisition module does not meet a preset parameter threshold.

[0010] Preferably, the cable laying machine includes a cable pusher, a lifting device and a control device. The cable pusher is used to convey cables, and the lifting device is used to drive the cable pusher to lift and lower to adjust the relative position of the cable pusher and the cable laying pipeline. The cable pusher and the lifting device are wirelessly connected to the control device, and the control device is used to monitor and control the cable pusher and the lifting device in real time.

[0011] Preferably, the cable pusher includes a track clamping mechanism and a distance adjusting mechanism, the track clamping mechanism is used to clamp the cable, and the distance adjusting mechanism is used to adjust the clamping distance of the track clamping mechanism.

[0012] Preferably, the cable pushing mechanism further comprises contoured wheels arranged at the front and rear of the crawler clamping mechanism.

[0013] Preferably, the distance adjustment mechanism includes a clamping motor and a clamping screw, and the clamping motor is used to drive the two conveyor belts of the crawler clamping mechanism to move closer to or away from each other through the clamping screw.

[0014] Preferably, the cable pusher includes a pushing motor and a gear transmission mechanism, and the pushing motor is used to drive the conveyor belt to rotate through the gear transmission mechanism to push the cable.

[0015] Preferably, the control device includes an operating parameter detection and display module and a control module, the operating parameter detection and display module is used to display the operating parameters of the cable laying machine, and the control module is used to receive the control signal of the coordination control terminal to adjust the operating parameters of the cable laying machine.

[0016] Preferably, the information acquisition module includes a laying speed sensor, a cable clamping force sensor and a laying length sensor.

[0017] Preferably, the coordination control terminal includes a monitoring and display module and a control strategy module. The monitoring and display module is used to display the operating parameters of each cable laying machine. The control strategy module is used to formulate a control strategy based on the operating parameters of the cable laying machine to control each cable laying machine.

[0018] Compared with the existing technology, the above technical solution has the following advantages:

[0019] The present invention provides a multi-machine interconnected cable laying system based on intelligent panoramic perception, comprising a coordination control terminal and multiple cable laying machines. The cable laying machine comprises a cable pusher, a lifting device, and a control device. The cable is laid step by step in a relay manner by multiple cable laying machines, transforming the traditional traction laying into push laying, thus avoiding problems such as wire rope breakage and wear. The lifting device can adjust the height position of the cable pusher, enabling the cable pushing position to be aligned with the cable pipeline, thereby reducing problems such as cable twisting, sheath breakage, and surface scratches. The control device realizes remote monitoring and on-site control of the cable laying machine, improving the efficiency and automation level of cable laying. The coordination control terminal can automatically formulate a control strategy by analyzing the operating parameters of the cable laying machine, realizing the control of the cable laying process and improving the intelligence level of cable laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A structural block diagram of a multi-machine interconnected cable laying system based on intelligent panoramic perception provided by a specific embodiment of the present invention;

[0022] Figure 2 This is a structural diagram of a cable laying machine;

[0023] Figure 3 It is a structural diagram of the cable pusher;

[0024] Figure 4 This is a block diagram of the control device of the cable laying machine;

[0025] Figure 5 This is the coordinated control flow chart of the multi-machine interconnected cable laying system based on intelligent panoramic perception. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0027] The following description sets forth specific details to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art will be able to make similar generalizations without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Please refer to Figure 1 , Figure 1 This is a structural block diagram of a multi-machine interconnected cable laying system based on intelligent panoramic perception provided by a specific embodiment of the present invention.

[0029] A specific embodiment of the present invention provides a multi-machine interconnected cable laying system based on intelligent panoramic perception, including: multiple cable laying machines located in different cable wells, and multiple cable laying machines transport cables in a relay manner; in addition, it also includes an information acquisition module and a coordination control terminal. The information acquisition module can collect the working parameters of each cable laying machine in real time. For example, the information acquisition module can include a laying speed sensor, a cable clamping force sensor and a laying length sensor to monitor the clamping force, laying speed, laying length and other information of the cable. The working parameters are transmitted to the coordination control terminal through the communication module to monitor the working status of the cable laying machine. When the working parameter information collected by the information acquisition module does not meet the preset parameter threshold, the coordination control terminal sends the optimized working parameters to the cable laying machine that needs to be adjusted through the communication module, thereby ensuring the coordinated work of each cable laying machine and improving the cable laying quality.

[0030] For cable laying machines, please refer to Figure 2 Specifically, the cable laying machine comprises a cable pusher 2 and a lifting device 1. The cable pusher 2 is used to transport the cable, and the lifting device 1 is used to drive the cable pusher 2 up and down to adjust the relative position of the cable pusher 2 and the cable laying pipeline. The cable pusher 2 is preferably connected to the lifting device 1 by a hoisting method. In addition, the cable laying machine also includes a control device. The control device is wirelessly connected to the cable pusher 2 and the lifting device 1 via a communication module to exchange information, thereby achieving real-time monitoring and on-site control of various operating parameters of the cable laying machine. Among them, the lifting device 1 is preferably a nut and screw mechanism, which specifically includes a nut 11, a screw 12, a channel steel plate 13, a transmission shaft 14, a coupling 15, a reducer 16, a DC motor 17 and a frame 18. A hole is provided in the middle of the frame 18, and a screw 12 is vertically arranged on both sides of the upper part of the frame 18. The nut 11 is connected to the screw 12, and the transmission shaft 14 is connected to the nut 11. The DC motor 17 is connected to the reducer 16 to complete the power transmission, and is connected to the transmission shaft 14 through the coupling 15 to transmit power to the actuator screw 12 and the nut 11. The reducer 16 adopts a single-input and dual-output reducer as the power transmission mechanism. Since the nut 11 is connected to the channel steel plate 13, and the channel steel plate 13 is connected to the cable pusher 2, when the DC motor 17 is working, it can control the lifting and lowering of the cable pusher 2 in the vertical direction, thereby completing the position adjustment work of the cable pusher 2.

[0031] It should be noted that the above-mentioned lifting device 1 is only a preferred structure. In addition, lifting devices 1 with other structural forms can also be selected, and the specific selection can be made according to actual conditions.

[0032] For Cable Pusher 2, please refer to Figure 3, specifically including a cable clamping mechanism and a cable pushing position adjustment mechanism, wherein the cable clamping mechanism is preferably a crawler clamping mechanism, which includes two conveyor belts 22 arranged vertically, a pushing motor 25, and a gear transmission mechanism. The pushing motor 25 is a power source, and the gear transmission mechanism includes a driven gear 21 and a driving gear 22. The pushing motor 25 drives the driving gear 22, thereby driving the conveyor belt 22 through the driven gear 21, thereby pushing the cable 3. The cable pushing position adjustment mechanism is preferably a distance adjustment mechanism, specifically including a clamping motor 24 and a clamping screw 28. The clamping motor 24 drives the two conveyor belts 22 of the crawler clamping mechanism to move closer or farther away from each other through the clamping screw 28 to accommodate cables 3 of different diameters. During the cable laying process, the system monitors the cable clamping force in real time. A position sensor monitors the positional relationship between the cable 3 and the conveyor belt 22. When the conveyor belt 22 reaches a preset distance, the clamping motor 24 drives the track-type clamping mechanism via the clamping screw 28 to clamp the cable 3, preventing it from falling off during the pushing process. The clamping force sensor is a pressure sensor that exchanges data with the coordination control terminal to control the start and stop of the clamping motor 24. After the cable clamping mechanism clamps the cable 3, the friction between the conveyor belt 22 and the cable 3 completes the pushing operation. Furthermore, the cable pushing mechanism 2 includes contoured wheels 26 positioned at the front and rear of the track-type clamping mechanism. These wheels guide the cable 3, preventing it from twisting or slipping.

[0033] For cable laying machine controls, see Figure 4 Specifically, it includes an operating parameter detection and display module, a control module, and a communication module. The operating parameter detection and display module is used to display the operating parameters of the cable laying machine. Specifically, it uses speed sensors, pressure sensors, and motor encoders as monitoring units to achieve real-time monitoring of the operating status of the cable laying machine. After the monitoring information is standardized, it is displayed and stored in real time. Specifically, it can display the laying speed, clamping force, and laying length. The motor encoder is arranged on the clamping motor and the pushing motor to achieve real-time monitoring of parameters such as clamping speed, clamping distance, and laying speed. At the same time, the motor encoder is also arranged on the guiding profiling wheel. By distinguishing and analyzing the speed of the pushing motor and the profiling wheel, it can monitor the slip phenomenon. After receiving the control signal from the coordination control terminal, the control module adjusts the operating parameters of each cable laying machine. The communication module is used to realize the information exchange function between the cable laying machine and the coordination control terminal.

[0034] The coordinated control terminal specifically includes a monitoring and display module, a control strategy module, and a communication module. The monitoring and display module displays the operating parameters of each cable laying machine, while the control strategy module formulates a control strategy based on the operating parameters to regulate each cable laying machine. During operation, the coordinated control terminal utilizes wireless network technology to exchange information with each cable laying machine through scheduled inspections and displays the operating parameters in real time. Furthermore, after analyzing the operating parameters of each cable laying machine, the coordinated control terminal independently formulates and adjusts the coordinated control strategy to regulate the operating status of each cable laying machine. Finally, the operating parameters and optimized control strategy are stored in corresponding data tables for easy retrieval by designers. The control strategy is based on the operating parameters, with cable threading speed as the control target, clamping force and motor speed as the control objects, and the ultimate control goal of achieving consistent cable pushing speeds across multiple interconnected cable laying machines, thus achieving system-coordinated control of the cable laying machines.

[0035] Please refer to Figure 5 By establishing a functional relationship for cable height adjustment, the cable push position adjustment mechanism automatically adjusts its height. Based on the real-time position of the cable pulling head, the cable laying machine's push and clamping forces are optimized and adjusted. Before the cable laying machine enters the coordinated control mode, it should be in normal operation. Based on the real-time position of the cable pulling head, the cable laying machine's next equipment operating parameters are predicted. Based on the predicted results, the push stroke-energy consumption ratio within the predicted time range is calculated. If the calculated results meet the optimal solution under the existing cable laying machine performance constraints, the cable conduit threading speed and the cable laying machine's push force remain unchanged. If they do not meet the optimal solution under the existing cable laying machine performance constraints, the cable conduit threading speed and the cable laying machine's push force are optimized. The calculation results are saved, and the prediction results and optimization commands are continuously updated in real time based on the comparison results.

[0036] In summary, the present invention provides a multi-machine interconnected cable laying system based on intelligent panoramic perception, including a coordination control terminal and multiple cable laying machines. The cable laying machine includes a cable pusher 2, a lifting device 1 and a control device. The cable is laid step by step in a relay manner through multiple cable laying machines, transforming the traditional traction laying into push laying, avoiding problems such as wire rope breakage and wear; the lifting device 1 can adjust the height position of the cable pusher 2, so that the cable pushing position and the cable pipeline are aligned, thereby reducing problems such as cable twisting, sheath breakage and surface scratches; the control device realizes remote monitoring and on-site control of the cable laying machine, improving the efficiency and automation level of cable laying; and the coordination control terminal can automatically formulate a control strategy by analyzing the working parameters of the cable laying machine, realize the control of the cable laying process, improve the intelligence level of cable laying, and lay the foundation for unmanned and less-manned cable laying work. In addition, the coordination control terminal stores the working parameters and control strategy in the corresponding data table, providing a technical reference for subsequent cable laying work.

[0037] It should be noted that, in this document, terms such as "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0038] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-machine interconnected cable laying system based on intelligent panoramic perception, characterized in that: include: Multiple cable laying machines, each of which is located in different cable wells and transports cables in a relay manner; An information acquisition module, the information acquisition module is used to collect operating parameters of the cable laying machine; a coordination control terminal connected to the information acquisition module via a communication module, and configured to adjust the operating parameters of the cable laying machine when the operating parameter information acquired by the information acquisition module does not meet a preset parameter threshold; The cable laying machine includes a cable pusher, a lifting device and a control device. The cable pusher is used to convey cables. The lifting device is used to drive the cable pusher to move up and down to adjust the relative position of the cable pusher and the cable laying pipeline. The cable pusher and the lifting device are wirelessly connected to the control device. The control device is used to monitor and control the cable pusher and the lifting device in real time. The information acquisition module includes a laying speed sensor, a cable clamping force sensor and a laying length sensor; The coordination control terminal includes a monitoring and display module and a control strategy module, wherein the monitoring and display module is used to display the operating parameters of each cable laying machine, and the control strategy module is used to formulate a control strategy according to the operating parameters of the cable laying machine to control each cable laying machine; The coordination control terminal uses wireless network technology to implement information exchange with each cable laying machine in a regular inspection manner, and displays the operating parameters in real time. At the same time, after analyzing the operating parameters of each cable laying machine, the coordination control terminal can independently formulate and adjust the coordination control strategy to complete the adjustment of the operating status of each cable laying machine, and finally store the operating parameters and the optimized control strategy in the corresponding data table; By establishing a functional relationship for cable height adjustment, the automatic height adjustment of the cable pushing position adjustment mechanism is achieved; according to the real-time position of the cable pulling head, the pushing force and clamping force of the cable laying machine are optimized and adjusted. Before the cable laying machine enters the collaborative control mode, the cable laying machine should be in normal operation. According to the real-time position of the cable pulling head, the equipment operation parameters of the cable laying machine in the next step are predicted. According to the prediction results, the pushing stroke-energy consumption ratio index within the prediction time range is calculated. If the calculation result meets the optimal solution under the existing performance constraints of the cable laying machine, the cable conduit threading speed and the pushing force of the cable laying machine remain unchanged. If it does not meet the optimal solution under the existing performance constraints of the cable laying machine, the cable conduit threading speed and the pushing force of the cable laying machine are optimized, the calculation results are saved, and the prediction results and optimization commands are continuously updated in real time based on the comparison results.

2. The multi-machine interconnected cable laying system based on intelligent panoramic perception according to claim 1 is characterized in that: The cable pusher includes a track clamping mechanism and a distance adjusting mechanism. The track clamping mechanism is used to clamp the cable, and the distance adjusting mechanism is used to adjust the clamping distance of the track clamping mechanism.

3. The multi-machine interconnected cable laying system based on intelligent panoramic perception according to claim 2 is characterized in that: The cable pushing mechanism further comprises contoured wheels arranged at the front and rear of the crawler clamping mechanism.

4. The multi-machine interconnected cable laying system based on intelligent panoramic perception according to claim 2 is characterized in that: The distance adjustment mechanism includes a clamping motor and a clamping screw. The clamping motor is used to drive the two conveyor belts of the crawler clamping mechanism to move closer to or farther away from each other through the clamping screw.

5. The multi-machine interconnected cable laying system based on intelligent panoramic perception according to claim 4 is characterized in that: The cable pusher includes a pushing motor and a gear transmission mechanism. The pushing motor is used to drive the conveyor belt to rotate through the gear transmission mechanism to push the cable.

6. The multi-machine interconnected cable laying system based on intelligent panoramic perception according to claim 1 is characterized in that: The control device includes an operating parameter detection and display module and a control module. The operating parameter detection and display module is used to display the operating parameters of the cable laying machine. The control module is used to receive the control signal of the coordination control terminal to adjust the operating parameters of the cable laying machine.

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