Cable laying equipment control method, device, equipment, medium and program product

Abstract

The invention provides a cable laying equipment control method and device, equipment, a medium and a program product. The method comprises the steps that corresponding real-time position data are obtained through at least two position sensors arranged on cable laying equipment, and the real-time position data represent the real-time position of a corresponding observation point on a sleigh plate; according to the real-time position data, a real-time contact state and inclination data are obtained, the real-time contact state represents the side inclination or longitudinal inclination state of the cable laying equipment relative to the soil, and the inclination data represents the relative position of the cable laying equipment relative to the soil; according to the real-time contact state and the inclination data, an equipment attitude condition corresponding to the cable laying equipment is obtained, and the equipment attitude condition represents whether the contact between the cable laying equipment and the soil is abnormal or not; and obtaining equipment operation parameters according to the equipment attitude condition, and controlling the operation of the cable laying equipment based on the operation parameters. According to the method, more accurate equipment operation parameters can be obtained by confirming the attitude condition of the equipment.

Description

Technical Field

[0001] The present application relates to the field of equipment control, and in particular to a method, device, equipment, medium and program product for controlling cabling equipment. Background Art

[0002] The burying plow can lay submarine cables by hydraulically cutting the underwater soil and draining mud to form grooves. The burying plow includes structures such as cable dragons and sleds. The cable dragons are used to guide and protect cables, optical fibers, wires and other types of cables during the burying process. The sleds are used to help the burying plow slide on the soil surface and reduce the friction between the burying plow and the soil. At present, the relative position relationship between the cable dragon and the sled is determined by the relative position relationship between the cable dragon and the sled, thereby determining the relevant parameters of hydraulic cutting.

[0003] However, in actual application, when cutting parameters are controlled by controlling the relative position relationship between the cable dragon and the sled to cut underwater soil, there is a problem of uneven and inaccurate soil cutting. Summary of the invention

[0004] The present application provides a cabling equipment control method, device, equipment, medium and program product to solve the technical problem of uneven and inaccurate soil cutting.

[0005] In a first aspect, the present application provides a method for controlling a cabling device, comprising:

[0006] Acquire corresponding real-time position data respectively through at least two position sensors provided on the cabling device, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled;

[0007] According to the real-time position data, a real-time contact state and tilt data are obtained, wherein the real-time contact state represents the roll or pitch state of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil;

[0008] According to the real-time contact state and the tilt data, a device posture state corresponding to the cabling device is obtained, wherein the device posture state indicates whether the contact between the cabling device and the soil is abnormal;

[0009] According to the posture status of the equipment, equipment operating parameters are obtained, and the operation of the cabling equipment is controlled based on the operating parameters.

[0010] Optionally, the method as described above, obtaining the real-time contact status according to the real-time position data, includes:

[0011] Obtaining a position data group according to the plurality of real-time position data, wherein the position data group includes at least one real-time position data;

[0012] According to each of the position data groups, a unilateral position state corresponding to each of the position data groups is obtained, wherein the unilateral position state represents a longitudinal tilt or roll state of one side of the cabling equipment;

[0013] According to at least two unilateral position states, a real-time contact state is obtained.

[0014] Optionally, in the method described above, the real-time location data includes the location coordinates and point identifiers of the observation points.

[0015] According to the plurality of real-time location data, a location data group is obtained, including:

[0016] The point identifications are grouped based on the position coordinates to obtain point identification sets of the same number of regions, wherein different point identification sets correspond to different ski board regions;

[0017] Selecting a sampling number of point marker groups from each point marker set, wherein each point marker group includes at least two point markers, and the at least two point markers represent an area of ​​the ski board;

[0018] According to the point identification group and the real-time position data, a position data group corresponding to the point identification group is obtained.

[0019] Optionally, in the method described above, selecting a sampling number of point identification groups from each point identification set includes:

[0020] Obtaining a parallel number, and determining a plurality of parallel sub-numbers according to the parallel number, wherein the parallel number represents the number of sampling groups for comparison corresponding to each point position identification set, and each parallel sub-number is different;

[0021] For each number of parallel sub-groups, a sampling number of point identification groups are selected from each point identification set, wherein each point identification group includes point identifications of the number of parallel sub-groups;

[0022] According to each of the position data groups, the unilateral position state corresponding to each of the position data groups is obtained, including:

[0023] For each parallel sub-number, according to the position data groups corresponding to the plurality of point identification groups corresponding to the parallel sub-number, a sub-single-side state corresponding to the parallel sub-number is obtained, wherein the sub-single-side state represents the longitudinal tilt or roll state of the ski board area corresponding to the position data group obtained by one sampling group;

[0024] For each of the position data groups, the single-sided position state is obtained according to the sub-single-sided states corresponding to each of a plurality of parallel sub-numbers.

[0025] Optionally, the method as described above, obtaining the unilateral position state corresponding to each position data group according to each position data group, includes:

[0026] Acquiring operating seabed data, wherein the operating seabed data represents the seabed topography of the operating area of ​​the buried plow;

[0027] According to the operation seabed data and each real-time position data in the position data group, a target observation point is determined among a plurality of observation points corresponding to the position data group, wherein the target observation point is an observation point whose real-time position coincides with the seabed of the operation area;

[0028] The number of overlapping points of the target observation point is obtained, and the single-side position state is obtained according to the target overlapping number and the overlapping number of points, wherein the target overlapping number can be obtained based on the operating seabed data.

[0029] Optionally, the method as described above, before obtaining the single-side position state according to the target overlap quantity and the overlap point quantity, further comprises:

[0030] According to the operation seabed data, a current landform type corresponding to the operation area is obtained;

[0031] The historical landform type corresponding to the working area is obtained, and a target overlap number is obtained according to the current landform type, the historical landform type and a plurality of initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group.

[0032] Optionally, the method as described above, obtaining the real-time contact state according to at least two unilateral position states, comprises:

[0033] According to the at least two unilateral position states, a unilateral state group is obtained, wherein the unilateral state group includes the unilateral position states of two adjacent sides of the cabling device;

[0034] According to the unilateral state group, a unilateral target state corresponding to the unilateral state group is obtained, wherein the unilateral target state represents a contact state between a corner of the cabling device and the ground;

[0035] The real-time contact state is obtained according to at least three single-side position states.

[0036] In a second aspect, the present application provides a cabling equipment control device, comprising:

[0037] An acquisition module, used to respectively acquire corresponding real-time position data through at least two position sensors provided on the cabling device, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled;

[0038] A first processing module is used to obtain real-time contact state and tilt data according to the real-time position data, wherein the real-time contact state represents the roll or pitch state of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil;

[0039] A second processing module is used to obtain a device posture state corresponding to the cabling device according to the real-time contact state and the tilt data, wherein the device posture state indicates whether the contact between the cabling device and the soil is abnormal;

[0040] The control module is used to obtain equipment operating parameters according to the equipment posture status, and control the operation of the cabling equipment based on the operating parameters.

[0041] Optionally, the first processing module, when executing to obtain the real-time contact state according to the real-time position data, is used to:

[0042] Obtaining a position data group according to the plurality of real-time position data, wherein the position data group includes at least one real-time position data;

[0043] According to each of the position data groups, a unilateral position state corresponding to each of the position data groups is obtained, wherein the unilateral position state represents a longitudinal tilt or roll state of one side of the cabling equipment;

[0044] According to at least two unilateral position states, a real-time contact state is obtained.

[0045] Optionally, the real-time location data includes location coordinates and point identifiers of observation points. When the first processing module is executed to obtain a location data group according to a plurality of the real-time location data, it is used to:

[0046] The point identifications are grouped based on the position coordinates to obtain point identification sets of the same number of regions, wherein different point identification sets correspond to different ski board regions;

[0047] Selecting a sampling number of point marker groups from each point marker set, wherein each point marker group includes at least two point markers, and the at least two point markers represent an area of ​​the ski board;

[0048] According to the point identification group and the real-time position data, a position data group corresponding to the point identification group is obtained.

[0049] Optionally, the first processing module, when executing the step of selecting a sampling number of point identification groups from each point identification set, is used to:

[0050] Obtaining a parallel number, and determining a plurality of parallel sub-numbers according to the parallel number, wherein the parallel number represents the number of sampling groups for comparison corresponding to each point position identification set, and each parallel sub-number is different;

[0051] For each number of parallel sub-groups, a sampling number of point identification groups are selected from each point identification set, wherein each point identification group includes point identifications of the number of parallel sub-groups;

[0052] The first processing module, when executing the process of obtaining the unilateral position state corresponding to each position data group according to each position data group, is used to:

[0053] For each parallel sub-number, according to the position data groups corresponding to the plurality of point identification groups corresponding to the parallel sub-number, a sub-single-side state corresponding to the parallel sub-number is obtained, wherein the sub-single-side state represents the longitudinal tilt or roll state of the ski board area corresponding to the position data group obtained by one sampling group;

[0054] For each of the position data groups, the single-sided position state is obtained according to the sub-single-sided states corresponding to each of a plurality of parallel sub-numbers.

[0055] Optionally, the first processing module, when executing the step of obtaining the unilateral position state corresponding to each position data group according to each position data group, is used to:

[0056] Acquiring operating seabed data, wherein the operating seabed data represents the seabed topography of the operating area of ​​the buried plow;

[0057] According to the operation seabed data and each real-time position data in the position data group, a target observation point is determined among a plurality of observation points corresponding to the position data group, wherein the target observation point is an observation point whose real-time position coincides with the seabed of the operation area;

[0058] The number of overlapping points of the target observation point is obtained, and the single-side position state is obtained according to the target overlapping number and the overlapping number of points, wherein the target overlapping number can be obtained based on the operating seabed data.

[0059] Optionally, the above device further includes:

[0060] Quantity acquisition module, used for:

[0061] According to the operation seabed data, a current landform type corresponding to the operation area is obtained;

[0062] The historical landform type corresponding to the working area is obtained, and a target overlap number is obtained according to the current landform type, the historical landform type and a plurality of initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group.

[0063] Optionally, the first processing module, when executing the step of obtaining the real-time contact state according to at least two unilateral position states, is used to:

[0064] According to the at least two unilateral position states, a unilateral state group is obtained, wherein the unilateral state group includes the unilateral position states of two adjacent sides of the cabling device;

[0065] According to the unilateral state group, a unilateral target state corresponding to the unilateral state group is obtained, wherein the unilateral target state represents a contact state between a corner of the cabling device and the ground;

[0066] The real-time contact state is obtained according to at least three single-side position states.

[0067] According to a third aspect, an electronic device includes: a processor, and a memory communicatively connected to the processor;

[0068] The memory stores computer-executable instructions;

[0069] The processor executes the computer-executable instructions stored in the memory to implement the cabling equipment control method as described in the first aspect.

[0070] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the cabling equipment control method as described in the first aspect.

[0071] In a fifth aspect, a computer program product includes a computer program, and when the computer program is executed by a processor, the cable laying equipment control method as described in the first aspect is implemented.

[0072] The cabling equipment control method, device, equipment, medium and program product provided by the present application use a position sensor to obtain real-time position data to obtain the real-time position of the corresponding observation point on the sled; obtain the real-time contact status based on the real-time position of the observation point, so as to determine the roll or pitch status of the cabling equipment compared to the soil; obtain the inclination data based on the real-time position of the observation point to obtain the relative position of the cabling equipment compared to the soil; obtain the equipment posture status based on the roll or pitch status and relative position of the cabling equipment compared to the soil to determine whether the contact between the cabling equipment and the soil is abnormal; based on the contact status between the cabling equipment and the soil, it can be determined whether the relative position relationship between the cable dragon and the sled is equivalent to the relative position relationship between the cable dragon and the seabed, on this basis, accurate equipment operating parameters can be obtained; controlling the cabling equipment based on accurate operating parameters can achieve the beneficial effect of smooth and accurate cutting of the soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0074] Figure 1 A schematic diagram of an application scenario of the cabling equipment control method provided in this application;

[0075] Figure 2 A schematic diagram of the flow of the cabling equipment control method provided in this application;

[0076] Figure 3 Another schematic diagram of the process flow of the cabling equipment control method provided by the present application;

[0077] Figure 4 A schematic diagram of the structure of the cabling equipment control device provided in this application;

[0078] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0079] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0080] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0081] The laying plow used for laying cables mainly includes a plow body, a plowshare, a guide device and a cable placement device. The plow body is used to dig the soil to form a groove for laying cables; the plowshare is arranged at the front end of the plow body to guide the plow body into the ground; the guide device is arranged on the plow body to control the direction and depth of the plow body; the cable placement device is arranged at the rear end of the plow body to fix the cables in the above groove.

[0082] At least two skids are provided at the bottom of the above-mentioned buried plough, that is, at the bottom of the plough body, to help the buried plough slide on the soil surface and reduce the friction between the buried plough and the soil. At present, the relative position relationship between the cable dragon and the skid is determined by the relative position relationship between the cable dragon and the seabed, thereby obtaining the relevant parameters of hydraulic cutting.

[0083] like Figure 1 As shown in the figure, the relevant parameter determination process of the above-mentioned hydraulic cutting is specifically as follows: the cabling equipment controller obtains the cable dragon parameters and the sled position parameters of the cabling equipment; the cabling equipment controller obtains the relative position relationship between the cable dragon and the sled according to the cable dragon parameters and the sled position parameters, and obtains the hydraulic cutting parameters according to the relative position relationship; the cabling equipment controller controls the operation of the cabling equipment based on the hydraulic cutting parameters. In the subsequent content, the cabling equipment controller is abbreviated as the controller and will not be repeated.

[0084] However, when the sled is not in full contact with the soil, the relative position relationship between the cable dragon and the sled is not the same as the relative position relationship between the cable dragon and the seabed, and errors may occur in parameters related to hydraulic cutting.

[0085] Therefore, how to accurately obtain the operating parameters of the buried plow is a technical problem that needs to be solved urgently by those skilled in the art.

[0086] The embodiment of the present application provides a cabling equipment control method, which aims to solve the above technical problems of the prior art and is executed by an electronic device. The electronic device can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, or a controller for controlling the cabling equipment, but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and the embodiment of the present application does not limit this.

[0087] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0088] like Figure 2 As shown, a cabling equipment control method may specifically include steps S101 to S104, wherein:

[0089] S101. Obtain corresponding real-time position data respectively through at least two position sensors provided on the cabling equipment, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled board.

[0090] The observation points are evenly distributed on the sled of the cable laying equipment, and each observation point corresponds to a unique position sensor. It should be noted that position sensors are provided at both the front and rear ends of the sled.

[0091] Real-time position data can be obtained based on the accelerometer and gyroscope in the inertial measurement unit. The real-time position data includes the position coordinates of the corresponding observation point, point identification, and the acceleration and rotation speed of the cable laying equipment in three-dimensional space. The position coordinates are three-dimensional coordinates that can be measured by common position sensors, and the acceleration and rotational acceleration can be obtained by the inertial measurement unit IMU.

[0092] Specifically, the position sensor set at each observation point obtains the position coordinates of the observation point, and obtains the acceleration and rotation speed of the device according to the IMU; the observation point position data, acceleration, rotation speed and the preset point mark corresponding to the sensor are combined to obtain real-time position data, and the real-time position data is sent to the controller, and the controller receives the real-time position data.

[0093] S102. Obtain real-time contact status and tilt data based on the real-time position data, wherein the real-time contact status represents the lateral or longitudinal tilt of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil.

[0094] The real-time contact status is side tilt or longitudinal tilt. Side tilt indicates that the cabling equipment is tilted to the left or right compared to the soil plane. Longitudinal tilt indicates that the cabling equipment is tilted forward or backward compared to the soil plane, where the plowshare of the cabling equipment is located in front of the cabling equipment.

[0095] The relative position is the pitch and roll values ​​of the cabling equipment. The pitch value is the rotation angle of the cabling equipment around the y-axis, which can be obtained based on the acceleration; the roll value is the rotation angle of the cabling equipment around the x-axis, which can be obtained based on the rotation speed.

[0096] S103. Obtaining a device posture status corresponding to the cabling device according to the real-time contact status and tilt data, wherein the device posture status indicates whether the contact between the cabling device and the soil is abnormal.

[0097] The tilt data includes the roll value and the pitch value.

[0098] Specifically, the initial device posture of the cabling equipment is obtained based on the real-time position data and tilt data, and the initial device posture is abnormal or normal; the reference device posture is obtained based on all real-time contact states, and the reference device posture is abnormal or normal; it is determined whether the reference device posture is the same as the initial device posture; if so, the initial device posture or the reference device posture is determined as the device posture status; if not, the real-time position data and tilt data are re-acquired, and the device posture status is obtained based on the re-acquired real-time position data and tilt data.

[0099] According to the real-time position data and tilt data, the initial device posture of the cabling device is obtained, which may specifically include:

[0100] Based on the real-time position data, the ground-lift status of the sled corresponding to each corner of the sled is obtained, wherein each corner of the sled corresponds to the left front, right front, left rear and right rear corners of the cabling equipment respectively, and the ground-lift status of the sled is off the ground or touching the ground; determine whether the ground-lift status of all sleds is off the ground, and if so, determine the initial equipment posture as abnormal.

[0101] If not, determine whether the longitudinal tilt value is greater than the longitudinal tilt threshold; if the longitudinal tilt value is greater than the longitudinal tilt threshold, determine whether there is a longitudinal tilt off-ground state group, wherein the longitudinal tilt off-ground state included in the longitudinal tilt off-ground state group is all off-ground, and the longitudinal tilt off-ground state group corresponds to the left front and right front, and left rear and right rear groups of the cabling equipment; if there is a longitudinal tilt off-ground state group, determine that the initial equipment posture is abnormal; if there is no longitudinal tilt off-ground state group, determine that the initial equipment posture is normal.

[0102] If the longitudinal tilt value is not greater than the longitudinal tilt threshold, then determine whether the roll value is greater than the roll threshold; if the roll value is greater than the roll threshold, then determine whether there is a roll-off state group, wherein the sled off-the-ground states included in the roll-off state group are all off-the-ground, and the roll-off state group corresponds to the left front and left rear, and right front and right rear groups of the cabling equipment; if there is a roll-off state group, determine that the initial equipment posture is abnormal; if there is no roll-off state group, determine that the initial equipment posture is normal.

[0103] S104. Obtain equipment operating parameters according to the equipment posture status, and control the operation of the cabling equipment based on the operating parameters.

[0104] Specifically, when the equipment posture condition is normal, the latest historical operating parameters continue to be used as the equipment operating parameters; if the equipment posture condition is abnormal, equipment adjustment information is generated according to the tilt data, wherein the equipment adjustment information is used to prompt the staff to adjust the posture of the cabling equipment based on the longitudinal tilt value and the roll value.

[0105] The cable laying equipment control method provided in the embodiment of the present application utilizes a position sensor to obtain real-time position data to obtain the real-time position of the corresponding observation point on the sled; based on the real-time position of the observation point, the real-time contact state is obtained to determine the roll or pitch state of the cable laying equipment compared to the soil; based on the real-time position of the observation point, the inclination data is obtained to obtain the relative position of the cable laying equipment compared to the soil; based on the roll or pitch state and the relative position of the cable laying equipment compared to the soil, the equipment posture is obtained to determine whether the contact between the cable laying equipment and the soil is abnormal; based on the contact state between the cable laying equipment and the soil, it can be determined whether the relative position relationship between the cable dragon and the sled is equivalent to the relative position relationship between the cable dragon and the seabed, on this basis, accurate equipment operating parameters can be obtained; controlling the cable laying equipment based on accurate operating parameters can achieve the beneficial effect of smooth and accurate cutting of the soil.

[0106] In an implementable manner, in the above S102, obtaining the real-time contact state according to the real-time position data may specifically include S102-1 to S102-3, wherein:

[0107] S102-1. Obtain a position data group according to a plurality of real-time position data, wherein the position data group includes at least one real-time position data.

[0108] The real-time position data in the position data group may be randomly selected or selected according to a preset rule.

[0109] For example, when the preset rule is equal-interval selection, for a sled board, if there are 20 observation points on average on the sled board, the target spacing is obtained. When the target spacing is 4, the observation points arranged in the order of one, five, ten, fifteen, and twentieth among the 20 observation points are used as target observation points, and the target point position identifiers corresponding to the target observation points are determined. The real-time position data containing the target point position identifiers are combined to obtain a position data group.

[0110] S102-2. Obtain the single-side position state corresponding to each position data group according to each position data group, wherein the single-side position state represents the longitudinal tilt or roll state of one side of the cabling equipment.

[0111] A sled of the cabling equipment has two columns of observation points, a left column and a right column, wherein the left and right sides between the two columns of observation points are in the same direction as the left and right sides of the cabling equipment. The straight line where each column of observation points is located is parallel to the straight line where the sled is located, and each observation point in the above two columns of observation points is arranged in rows and columns.

[0112] Specifically, for each row of observation points corresponding to the same sled board, the ordinate values ​​corresponding to the two observation points in the row are obtained according to the real-time position data corresponding to the observation points in the row in the position data group; based on the ordinate values ​​corresponding to the two observation points, the left and right ordinate difference and the front and back ordinate difference corresponding to the row are obtained, the left and right ordinate difference = the ordinate value of the left observation point - the ordinate value of the right observation point, the front and back ordinate difference = the ordinate value of the front observation point - the ordinate value of the rear observation point; according to all the left and right ordinate differences corresponding to the sled board, A first unilateral position state corresponding to the sled board is obtained, and the first unilateral position state indicates the tilt conditions of the sled board, such as tilting to the right, tilting to the left, and no tilt; according to all the front and rear longitudinal coordinate differences corresponding to the sled board, a second unilateral position state corresponding to the sled board is obtained, and the second unilateral position state indicates the longitudinal tilt conditions of the sled board, such as tilting forward, tilting backward, and no tilt; according to the first unilateral position state and the second unilateral position state, a unilateral position state is obtained, and the unilateral position state is a combination of the first unilateral position state and the second unilateral position state, which will not be described in detail in this embodiment.

[0113] According to all left and right vertical coordinate differences corresponding to the sled board, a first unilateral position state corresponding to the sled board is obtained, which can specifically include: according to all left and right vertical coordinate differences corresponding to the sled board, a positive number of left and right vertical coordinate differences is obtained, a zero number is obtained, and a negative number is obtained; the maximum value among the positive number, the zero number and the negative number is taken as the maximum number; when the maximum number is a positive number, the first unilateral position state of the sled board is determined to be tilted to the left; when the maximum number is zero, the first unilateral position state is determined to be non-tilted; when the maximum number is a negative number, the first unilateral position state is tilted to the right.

[0114] Obtaining a first single longitudinal position state corresponding to the sled board according to all front and rear longitudinal coordinate differences corresponding to the sled board may specifically include: obtaining a number of positive numbers, a number of zero numbers, and a number of negative numbers whose front and rear longitudinal coordinate differences are positive numbers, according to all front and rear longitudinal coordinate differences corresponding to the sled board; taking the maximum value among the positive number, the zero number, and the negative number as the maximum number; when the maximum number is a positive number, determining that the first single longitudinal position state of the sled board is longitudinal tilt forward; when the maximum number is zero, determining that the first single longitudinal position state is no longitudinal tilt; when the maximum number is a negative number, the first single longitudinal position state is longitudinal tilt backward.

[0115] S102-3. Obtain a real-time contact state based on at least two unilateral position states.

[0116] In an implementable manner, the real-time location data includes the location coordinates and point identifiers of the observation points. The above S102-1, based on the plurality of real-time location data, obtains the location data group, which may specifically include S102-1-1 to S102-1-3, wherein:

[0117] S102-1-1. Group the point identifiers based on the position coordinates to obtain point identifier sets of the same number of regions, wherein different point identifier sets correspond to different ski board regions.

[0118] Each point identification set includes the same number of point identifications. This step can be performed based on a clustering algorithm or a preset classification method.

[0119] S102-1-2. Select a sampling number of point marker groups from each point marker set, wherein each point marker group includes at least two point markers, and the at least two point markers represent an area of ​​the ski board.

[0120] The number of regions and the number of samples are random values ​​or preset values ​​automatically generated by the controller.

[0121] S102-1-3. Obtain a position data group corresponding to the point identification group according to the point identification group and the real-time position data.

[0122] Specifically, the real-time position data corresponding to each point identification in the point identification group is determined in the real-time position data, and the real-time position data is used as the point identification group.

[0123] The cabling equipment control method provided in the embodiment of the present application requires that the observation points be evenly distributed on the sled board, and the selection of the observation points requires not only randomness but also uniform distribution. Therefore, the present embodiment groups the point identifiers based on the position coordinates to obtain a point identifier set of the number of regions, thereby partitioning the sled board, and then selects a sampling number of point identifiers from each point identifier set as observation points for sampling.

[0124] In one possible implementation, the above S102-1-2, selecting a sampling number of point identification groups from each point identification set, may specifically include:

[0125] The parallel quantity is obtained, and multiple parallel sub-quantities are determined according to the parallel quantity, wherein the parallel quantity represents the number of sampling groups for comparison corresponding to each point position identification set, and each parallel sub-quantity is different.

[0126] For each number of parallel sub-groups, a sampling number of point identification groups are selected from each point identification set, wherein each point identification group includes point identifications of the number of parallel sub-groups.

[0127] The number of parallel operations is a random value or a preset value automatically generated by the controller. For example, when the number of parallel operations is 5, the number of parallel operations can be 5, 4, 3, 2, or 5, 3, 2, or 4, 2, etc. This embodiment is not specifically limited.

[0128] Correspondingly, the above S102-2, based on each position data group, obtains the unilateral position state corresponding to each position data group, which may specifically include:

[0129] For each parallel sub-number, a sub-single-sided state corresponding to the parallel sub-number is obtained according to the position data groups corresponding to the multiple point identification groups corresponding to the parallel sub-number, wherein the sub-single-sided state represents the longitudinal tilt or roll state of the ski board area corresponding to the position data group obtained by a sampling group.

[0130] The implementation process of this step refers to the specific implementation process of S102-2, and only the number of parallel sub-processes is replaced, which will not be repeated in this embodiment.

[0131] For each position data group, a single-sided position state is obtained according to the single-sided states of the sub-states corresponding to the respective numbers of parallel sub-states.

[0132] Specifically, among the multiple sub-single-sided states included in the position data group, the total normal number of sub-single-sided states with no roll and no pitch is determined; it is judged whether the above normal number is greater than a preset normal threshold value, and if so, the single-sided position state is determined as no roll and no pitch, otherwise, the single-sided position state is determined as roll or pitch.

[0133] The cabling equipment control method provided in the embodiment of the present application determines the number of parallel sub-numbers according to the parallel number to obtain the number of sampling groups for comparison corresponding to each point identification set; by selecting point identification groups with a sampling number from each point identification set, multiple control groups are selected from multiple observation points to avoid inaccurate unilateral position status caused by distortion of real-time position data corresponding to the sampling points.

[0134] In an implementable manner, the above S102-2, based on each position data group, obtains the unilateral position state corresponding to each position data group, which may specifically include:

[0135] The operating seabed data is acquired, wherein the operating seabed data represents the seabed topography of the operating area where the buried plow is installed.

[0136] According to the operation seabed data and each real-time position data in the position data group, a target observation point is determined among multiple observation points corresponding to the position data group, wherein the target observation point is an observation point whose real-time position coincides with the seabed of the operation area.

[0137] The number of overlapping points of the target observation point is obtained, and the single-side position state is obtained according to the target overlapping number and the overlapping point number, wherein the target overlapping number can be obtained based on the operating seabed data.

[0138] When two non-adjacent one-side position states are abnormal at the same time, it indicates that the one-side position state is wrong and needs to be re-determined. The specific implementation process can refer to step 202 to step 204.

[0139] In an implementable manner, before obtaining the single-side position state according to the target overlap quantity and the overlap point quantity, the method further includes:

[0140] According to the seabed data of the operation, the current landform type corresponding to the operation area is obtained.

[0141] The historical landform type corresponding to the working area is obtained, and the target overlap number is obtained according to the current landform type, the historical landform type and multiple initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group.

[0142] Specifically, determine the target historical overlap number that is the same as the current overlap number from the historical overlap number; obtain the initial overlap number based on the total historical overlap number corresponding to the target historical overlap number, where the initial overlap number can be the mean or median of the total historical overlap number or other values ​​that can characterize the central trend; calculate the variance of the initial overlap number, and judge whether the target overlap number is evenly distributed based on the variance; when the distribution is uneven, select the median as the target overlap number; when the distribution is even, select the mean as the target overlap number.

[0143] The cable laying equipment control method provided in the embodiment of the present application may change the seabed topography with the tide, and it is necessary to redetermine the topography type. This embodiment obtains the current topography type corresponding to the operating area based on the operating seabed data, and then obtains the target overlap number based on the current topography type, historical topography type and multiple initial overlap numbers.

[0144] The cabling equipment control method provided in the above embodiment is described below with reference to a specific example. Figure 3 As shown, the following steps are included:

[0145] S201. Obtain corresponding real-time position data respectively through at least two position sensors provided on the cabling equipment, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled board.

[0146] S202. Obtain inclination data based on the real-time position data, wherein the inclination data represents the relative position of the cabling equipment compared to the soil.

[0147] S203: Obtain a position data group according to the multiple real-time position data, wherein the position data group includes at least one real-time position data.

[0148] Specifically, based on the real-time position data, the position coordinates and point identification of the observation point are obtained; based on the position coordinates, the point identifications are grouped to obtain point identification sets of regional quantity, wherein different point identification sets correspond to different sled board regions; the parallel quantity is obtained, and a plurality of parallel sub-quantities are determined according to the parallel quantity, wherein the parallel quantity represents the number of sampling groups for comparison corresponding to each point identification set, and each parallel sub-quantity is different; for each parallel sub-quantity, a point identification group of the sampling quantity is selected from each point identification set, wherein each point identification group includes point identifications of the parallel sub-quantity, wherein each point identification group includes at least two point identifications, and at least two point identifications represent an area of ​​the sled board; according to the point identification group and the real-time position data, a position data group corresponding to the point identification group is obtained.

[0149] S204. Obtain, according to each position data group, a single-side position state corresponding to each position data group, wherein the single-side position state represents a longitudinal tilt or roll state of one side of the cabling equipment.

[0150] Firstly, for each parallel sub-number, according to the position data groups corresponding to the multiple point identification groups corresponding to the parallel sub-number, the sub-single-sided state corresponding to the parallel sub-number is obtained, wherein the sub-single-sided state represents the longitudinal tilt or roll state of the sled board area corresponding to the position data group obtained by a sampling group; for each position data group, according to the sub-single-sided state corresponding to the multiple parallel sub-numbers, the initial single-sided state is obtained, wherein the initial single-sided state represents the longitudinal tilt or roll state of one side of the cabling equipment before inspection, and the initial single-sided position is normal or abnormal.

[0151] Then, based on all the initial unilateral states, it is determined whether there is an abnormal unilateral state, wherein the abnormal unilateral state indicates that the initial unilateral states corresponding to the two non-adjacent sides of the cabling device are both abnormal.

[0152] If it exists, then obtain the operating seabed data, wherein the operating seabed data represents the seabed topography of the operating area of ​​the buried plow; according to the operating seabed data and each real-time position data in the position data group, determine the target observation point among the multiple observation points corresponding to the position data group, wherein the target observation point is the observation point where the real-time position coincides with the seabed of the operating area; according to the operating seabed data, obtain the current landform type corresponding to the operating area; obtain the historical landform type corresponding to the operating area, and obtain the target overlap number based on the current landform type, the historical landform type and multiple initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group; obtain the number of overlapped points of the target observation point, and obtain the unilateral position state based on the target overlap number and the number of overlapped points, wherein the target overlap number can be obtained based on the operating seabed data.

[0153] If it does not exist, the initial unilateral state is used as the unilateral position state.

[0154] S205: Obtain a real-time contact state according to at least two unilateral position states.

[0155] Specifically, based on at least two unilateral position states, a unilateral state group is obtained, wherein the unilateral state group includes the unilateral position states of the adjacent and opposite sides of the cabling equipment, the cabling equipment corresponds to the front side, the rear side, the left side and the right side, the adjacent two sides include the left side and the front side, the left side and the rear side, the right side and the front side, the right side and the rear side, and the opposite two sides include the front side and the rear side, the left side and the right side.

[0156] When the unilateral state group includes the unilateral position states on both adjacent sides, the unilateral target state corresponding to the unilateral state group is obtained according to the unilateral state group, wherein the unilateral target state characterizes the contact state between a corner of the cabling equipment and the ground; and the real-time contact state is obtained according to at least three unilateral position states.

[0157] When the unilateral state group includes unilateral position states on two relative sides, the unilateral target state corresponding to the unilateral state group is obtained according to the unilateral state group, wherein the unilateral target state characterizes the contact state between one edge of the bottom of the cabling equipment and the ground; according to the two unilateral position states included in the unilateral state group, the real-time contact state is obtained, wherein if the two unilateral position states are the same, the real-time contact state is normal, and if the two unilateral position states are different, the real-time contact state is abnormal.

[0158] S206. Obtaining a device posture status corresponding to the cabling device according to the real-time contact status and tilt data, wherein the device posture status indicates whether the contact between the cabling device and the soil is abnormal.

[0159] S207. Obtain equipment operating parameters according to the equipment posture status, and control the operation of the cabling equipment based on the operating parameters.

[0160] In this embodiment, the implementation method of steps 201 to 207 is the same as that of the above Figure 2 The implementation methods of step 101 to step 104 in the embodiments are the same and will not be described in detail here.

[0161] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0162] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0163] Figure 4 The schematic diagram of the structure of the cabling equipment control device provided in this application is as follows: Figure 4 As shown, the cabling equipment control device 40 provided in this embodiment includes:

[0164] An acquisition module 401 is used to acquire corresponding real-time position data through at least two position sensors provided on the cabling device, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled;

[0165] A first processing module 402 is used to obtain real-time contact state and tilt data according to the real-time position data, wherein the real-time contact state represents the roll or pitch state of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil;

[0166] The second processing module 403 is used to obtain the device posture status corresponding to the cabling device according to the real-time contact state and tilt data, wherein the device posture status indicates whether the contact between the cabling device and the soil is abnormal;

[0167] The control module 404 is used to obtain the equipment operation parameters according to the equipment posture status, and control the operation of the cabling equipment based on the operation parameters.

[0168] Optionally, the first processing module 402, when obtaining the real-time contact state according to the real-time position data, is used to:

[0169] Obtaining a position data group according to the plurality of real-time position data, wherein the position data group includes at least one real-time position data;

[0170] According to each position data group, a single-side position state corresponding to each position data group is obtained, wherein the single-side position state represents the longitudinal tilt or roll state of one side of the cabling equipment;

[0171] According to at least two unilateral position states, a real-time contact state is obtained.

[0172] Optionally, the real-time location data includes location coordinates and point identifiers of observation points. When the first processing module 402 is executed to obtain a location data group according to a plurality of real-time location data, it is used to:

[0173] Based on the position coordinates, the point identifications are grouped to obtain point identification sets with the same number of regions, wherein different point identification sets correspond to different ski board regions;

[0174] Selecting a sampling number of point marker groups from each point marker set, wherein each point marker group includes at least two point markers, and the at least two point markers represent an area of ​​the ski board;

[0175] According to the point identification group and the real-time position data, a position data group corresponding to the point identification group is obtained.

[0176] Optionally, the first processing module 402, when executing the selection of a sampling number of point identification groups from each point identification set, is used to:

[0177] Obtaining a parallel number, and determining a plurality of parallel sub-numbers according to the parallel number, wherein the parallel number represents the number of sampling groups for comparison corresponding to each point position identification set, and each parallel sub-number is different;

[0178] For each number of parallel sub-groups, a sampling number of point identification groups are selected from each point identification set, wherein each point identification group includes point identifications of the number of parallel sub-groups;

[0179] The first processing module 402, when executing to obtain the single-side position state corresponding to each position data group according to each position data group, is used to:

[0180] For each parallel sub-number, according to the position data groups corresponding to the plurality of point identification groups corresponding to the parallel sub-number, a sub-single-side state corresponding to the parallel sub-number is obtained, wherein the sub-single-side state represents the longitudinal tilt or roll state of the ski board area corresponding to the position data group obtained by one sampling group;

[0181] For each position data group, a single-sided position state is obtained according to the single-sided states of the sub-states corresponding to the respective numbers of parallel sub-states.

[0182] Optionally, the first processing module 402, when executing the process of obtaining the unilateral position state corresponding to each position data group according to each position data group, is used to:

[0183] Acquiring operating seabed data, wherein the operating seabed data represents the seabed topography of the operating area where the buried plow is installed;

[0184] According to the operation seabed data and each real-time position data in the position data group, a target observation point is determined among a plurality of observation points corresponding to the position data group, wherein the target observation point is an observation point whose real-time position coincides with the seabed of the operation area;

[0185] The number of overlapping points of the target observation point is obtained, and the single-side position state is obtained according to the target overlapping number and the overlapping point number, wherein the target overlapping number can be obtained based on the operating seabed data.

[0186] Optionally, the above device 40 further includes:

[0187] The quantity acquisition module 401 is used to:

[0188] According to the seabed data of the operation, the current landform type corresponding to the operation area is obtained;

[0189] The historical landform type corresponding to the working area is obtained, and the target overlap number is obtained according to the current landform type, the historical landform type and multiple initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group.

[0190] Optionally, the first processing module 402, when executing the step of obtaining the real-time contact state according to at least two unilateral position states, is configured to:

[0191] According to at least two unilateral position states, a unilateral state group is obtained, wherein the unilateral state group includes the unilateral position states of two adjacent sides of the cabling device;

[0192] According to the unilateral state group, a unilateral target state corresponding to the unilateral state group is obtained, wherein the unilateral target state represents a contact state between a corner of the cabling device and the ground;

[0193] According to at least three single-side position states, a real-time contact state is obtained.

[0194] The cabling equipment control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0195] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0196] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0197] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to a transistor, a memristor, etc.

[0198] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the electronic device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0199] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0200] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0201] If not otherwise specified, the processor 501 may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the memory 502 may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0202] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0203] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above redundant field updating method for a distributed system is implemented.

[0204] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above redundant field updating method for a distributed system.

[0205] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of this specification.

[0206] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0207] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A cabling equipment control method, characterized in that: include: Acquire corresponding real-time position data respectively through at least two position sensors provided on the cabling device, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled; According to the real-time position data, a real-time contact state and tilt data are obtained, wherein the real-time contact state represents the roll or pitch state of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil; According to the real-time contact state and the tilt data, a device posture state corresponding to the cabling device is obtained, wherein the device posture state indicates whether the contact between the cabling device and the soil is abnormal; According to the posture status of the equipment, equipment operating parameters are obtained, and the operation of the cabling equipment is controlled based on the operating parameters.

2. The cabling equipment control method according to claim 1, characterized in that: According to the real-time position data, the real-time contact status is obtained, including: Obtaining a position data group according to the plurality of real-time position data, wherein the position data group includes at least one real-time position data; According to each of the position data groups, a unilateral position state corresponding to each of the position data groups is obtained, wherein the unilateral position state represents a longitudinal tilt or roll state of one side of the cabling equipment; According to at least two unilateral position states, a real-time contact state is obtained.

3. The cabling equipment control method according to claim 2, characterized in that: The real-time location data includes the location coordinates and point identification of the observation point. According to the plurality of real-time location data, a location data group is obtained, including: The point identifications are grouped based on the position coordinates to obtain point identification sets of the same number of regions, wherein different point identification sets correspond to different ski board regions; Selecting a sampling number of point marker groups from each point marker set, wherein each point marker group includes at least two point markers, and the at least two point markers represent an area of ​​the ski board; According to the point identification group and the real-time position data, a position data group corresponding to the point identification group is obtained.

4. The cabling equipment control method according to claim 3, characterized in that: A sampling number of point identification groups are selected from each point identification set, including: Obtaining a parallel number, and determining a plurality of parallel sub-numbers according to the parallel number, wherein the parallel number represents the number of sampling groups for comparison corresponding to each point position identification set, and each parallel sub-number is different; For each number of parallel sub-groups, a sampling number of point identification groups are selected from each point identification set, wherein each point identification group includes point identifications of the number of parallel sub-groups; According to each of the position data groups, the unilateral position state corresponding to each of the position data groups is obtained, including: For each parallel sub-number, according to the position data groups corresponding to the plurality of point identification groups corresponding to the parallel sub-number, a sub-single-side state corresponding to the parallel sub-number is obtained, wherein the sub-single-side state represents the longitudinal tilt or roll state of the ski board area corresponding to the position data group obtained by one sampling group; For each of the position data groups, the single-sided position state is obtained according to the sub-single-sided states corresponding to each of a plurality of parallel sub-numbers.

5. The cabling equipment control method according to claim 2, characterized in that: According to each of the position data groups, the unilateral position state corresponding to each of the position data groups is obtained, including: Acquiring operating seabed data, wherein the operating seabed data represents the seabed topography of the operating area of ​​the buried plow; According to the operation seabed data and each real-time position data in the position data group, a target observation point is determined among a plurality of observation points corresponding to the position data group, wherein the target observation point is an observation point whose real-time position coincides with the seabed of the operation area; The number of overlapping points of the target observation point is obtained, and the single-side position state is obtained according to the target overlapping number and the overlapping number of points, wherein the target overlapping number can be obtained based on the operating seabed data.

6. The cabling equipment control method according to claim 5, characterized in that: Before obtaining the one-side position state according to the target overlap quantity and the overlap point quantity, the method further includes: According to the operation seabed data, a current landform type corresponding to the operation area is obtained; The historical landform type corresponding to the working area is obtained, and a target overlap number is obtained according to the current landform type, the historical landform type and a plurality of initial overlap numbers, wherein the initial overlap number can be obtained based on the historical overlap number corresponding to the position data group.

7. The cabling equipment control method according to claim 2, characterized in that: According to at least two unilateral position states, a real-time contact state is obtained, including: According to the at least two unilateral position states, a unilateral state group is obtained, wherein the unilateral state group includes the unilateral position states of two adjacent sides of the cabling device; According to the unilateral state group, a unilateral target state corresponding to the unilateral state group is obtained, wherein the unilateral target state represents a contact state between a corner of the cabling device and the ground; The real-time contact state is obtained according to at least three single-side position states.

8. A cabling equipment control device, characterized in that: include: An acquisition module, used to respectively acquire corresponding real-time position data through at least two position sensors provided on the cabling device, wherein the real-time position data represents the real-time position of the corresponding observation point on the sled; A first processing module is used to obtain real-time contact state and tilt data according to the real-time position data, wherein the real-time contact state represents the roll or pitch state of the cabling equipment compared to the soil, and the tilt data represents the relative position of the cabling equipment compared to the soil; A second processing module is used to obtain a device posture state corresponding to the cabling device according to the real-time contact state and the tilt data, wherein the device posture state indicates whether the contact between the cabling device and the soil is abnormal; The control module is used to obtain equipment operating parameters according to the equipment posture status, and control the operation of the cabling equipment based on the operating parameters.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images